85 lines
1.9 KiB
C++
85 lines
1.9 KiB
C++
#ifndef BELT_CONTROLLER_H_
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#define BELT_CONTROLLER_H_
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#include "color.h"
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#include "conveyorBeltGrpcClient.hpp"
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#include <cstdlib>
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#include <glog/logging.h>
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#include <httplib.h>
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#include <iostream>
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#include <nlohmann/json.hpp>
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#include <map>
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#include <memory>
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#include <shared_mutex>
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#include <stdio.h>
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#include <string>
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#include "ability_sdk/ControllerHeartbeat.hpp"
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#include "ability_sdk/Heartbeat.hpp"
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//#include <json/json.h>
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//#include "http_server.h"
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// 前向声明 HttpServer 类，避免循环依赖
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//class HttpServer;
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typedef int ConveyorBeltStatus;
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// 控制器类
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class ConveyorBeltController {
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public:
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httplib::Server http_server;
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void configure_http_server();
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std::map<int, int> directionMap;
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//std::map<int, std::string> ipMap;
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int port;
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// 控制器心跳包
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ability_sdk::ControllerHeartbeat heartbeat_pack;
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// 能力心跳获取
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std::map<uuids::uuid, ability_sdk::Heartbeat> ability_heartbeats;
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bool gather_abilities();
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bool check_ability_status();
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void init();
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void Run();
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// 控制器心跳线程
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std::thread th_heartbeat;
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void routine_heartbeat();
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int handleOpen(float speed, int direction);
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int handleClose();
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int handleCheck();
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void setServerIp(std::string serverIp);
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ConveyorBeltStatus getCurrentStatus();
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ConveyorBeltController();
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~ConveyorBeltController();
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private:
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std::string ip;
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ConveyorBeltStatus status;
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std::shared_mutex mutex_;
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int IPCPort;
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int abilityPort;
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std::map<int, std::string> ipMap;
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// 状态转换
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int stateSwitch(ConveyorBeltStatus destState, std::string cmd);
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// grpc连接
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int grpcConnect(float speed, int direction);
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// grpc断开
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int grpcDisconnect();
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// grpc检查
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int grpcCheck();
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// 同步状态
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int synchState(std::string json);
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// 简单状态检查
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bool simpleStateCheck();
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};
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#endif
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