Terminal_process_CT/lidar_locate/Locate_communicator.h

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

#ifndef NNXX_TESTS_LOCATE_COMMUNICATOR_H
#define NNXX_TESTS_LOCATE_COMMUNICATOR_H


#include <mutex>
#include "communication_socket_base.h"
#include "singleton.h"

#include "measure_message.pb.h"
#include "error_code.h"

#include "thread_safe_map.h"

namespace message
{
    bool operator<(const message::Measure_request_msg& msg1,const message::Measure_request_msg& msg2);
    bool operator==(const message::Measure_request_msg& msg1,const message::Measure_request_msg& msg2);
}


class Locate_communicator: public Singleton<Locate_communicator>, public Communication_socket_base
{
    friend Singleton<Locate_communicator>;
public:
    virtual ~Locate_communicator();
    Error_manager locate_request(message::Measure_request_msg& request,message::Measure_response_msg& result);
    /*
     * 提前取消请求
     */
    Error_manager cancel_request(message::Measure_request_msg& request);
    Error_manager check_statu();


protected:
    Locate_communicator();
    virtual Error_manager encapsulate_msg(Communication_message* message);
    virtual Error_manager execute_msg(Communication_message* p_msg);
    /*
     * 检测消息是否可被处理
     */
    virtual Error_manager check_msg(Communication_message* p_msg);
    /*
     * 心跳发送函数,重载
     */
    virtual Error_manager encapsulate_send_data();
    //检查消息是否可以被解析, 需要重载
    virtual Error_manager check_executer(Communication_message* p_msg);

    /*
     * 根据接收到的response,生成对应的 request
     */
    message::Measure_request_msg create_request_by_response(message::Measure_response_msg& msg);

protected:

    thread_safe_map<message::Measure_request_msg,message::Measure_response_msg>          m_response_table;
    Communication_message                                       m_measure_statu_msg;
};


#endif //NNXX_TESTS_LOCATE_COMMUNICATOR_H