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