Terminal_process_CT/system/PickupProcessTask.h

//
// Created by zx on 2020/7/7.
//

#ifndef NNXX_TESTS_TAKEPROCESS_H
#define NNXX_TESTS_TAKEPROCESS_H
#include <parkspace_allocation_message.pb.h>
#include "process_message.pb.h"
#include "error_code.h"
#include "process_task.h"
#include "dispatch_excutor.h"
#include "terminal_message.pb.h"

class PickupProcessTask :public Process_task{

public:
    PickupProcessTask(unsigned int terminal_id,message::Car_info car_info);
    virtual  ~PickupProcessTask();

    Error_manager init_task();
    virtual tq::TaskCategory GetCategory() const{ return message::ePicking;}

    /*
     * 控制流程到下一步
     */
    virtual Error_manager next_step();


protected:
    virtual void Main();

    /*
     * 查询车位
     */
    Error_manager search_space_step();
    /*
     * 回退查询车位
     */
    Error_manager back_search_space_step();

    /*
     * 执行取车动作请求,并等待执行完成
     */
    Error_manager dispatch_step();
    /*
     * 回退执行取车动作请求,并等待执行完成
     */
    Error_manager back_dispatch_step();

    /*
     * 等待车辆离开
     */
    Error_manager wait_for_leave_step();
    /*
     * 回退等待车辆离开
     */
    Error_manager back_wait_for_leave_step();

    /*
     * 清除车位表中对应的车位
     */
    Error_manager release_space_step();
    /*
     * 回退清除车位表中对应的车位
     */
    Error_manager back_release_space_step();


    virtual void publish_step_status();
    /*
     * 根据当前流程状态,生成状态消息
     */
    void updata_step_statu_msg();

    void reset_recv_msg();

protected:

private:
    //查询到的车位信息
    message::Parkspace_search_request_msg                   m_search_request_msg;
    message::Parkspace_search_response_msg                  m_search_response_msg;
    //取车调度反馈信息
    message::Pickup_command_response_msg                    m_command_response_msg;
    message::Dispatch_request_msg                           m_dispatch_request_msg;
    message::Dispatch_response_msg                          m_dispatch_response_msg;

    message::Picking_process_statu_msg                      m_process_msg;

};


#endif //NNXX_TESTS_TAKEPROCESS_H