server/module_service/module_traffic_light_manager.h

#ifndef module_traffic_light_manager_h
#define module_traffic_light_manager_h
#include <thread>
#include <functional>
#include "module_traffic_light.h"
#include "module_traffic_light_rule.h"
#include "db_api/CDBCommon.h"
#include "geo_hash.h"
#include "log.h"
#include "websocket/sio/sio_client.h"
#include "common_tool.h"
#include "crc.h"
#include "protocol.h"
#include "websocket/wsTimerThread.h"

// 红绿灯管理
struct traffic_light_manager{
    static traffic_light_manager* instance();

    // 从数据库加载数据
    void init_light_from_db(int lid = 0);
    void init_light_group_from_db(int gid = 0);
    void init_light_group_path();
    void init_map(int id = 0);

    // 初始化回调信息
    void init(const int& lgc);

    // 开启
    void start();
    // 关闭
    void stop();
    // 运行
    void run();
    // 信息处理
    void put(const light_message& msg);

    // 重新加载红绿灯信息
    void handle_reload(const int& gid, const int& lid);
    int reload_light(const int& lid);
    int reload_group(const int& gid);

    // 手动控制红绿灯信息
    void manual_ctrl(sio::message::ptr const& data);
    void set_manual(light_message& msg);
    void cancel_manual(light_message& msg);
    void handle_manual(const int& gid, const int& ld, const std::string& name, const int& lc);

    // 卡数据
    void handle_position(pos_data& p);

    traffic_light_ptr get(const int& id)
    {
        return find_light(id);
    }

    //查找红绿灯
    traffic_light_ptr find_light(const int k)
    {
        hashmap_light::iterator it = m_unmap_lights.find(k);
        if(it != m_unmap_lights.end())
        {
            return it->second;
        }
        
        return nullptr;
    }

    // 查找红绿灯组
    traffic_light_group_ptr find_group(const int k)
    {
        hashmap_group::iterator it = m_unmap_groups.find(k);
        if(it != m_unmap_groups.end())
        {
            return it->second;
        }

        return nullptr;
    }

    std::vector<traffic_light_group_ptr> find_stream_groups(traffic_light_group_ptr, const move_stream& stream);

    // 更新红绿灯数据
    void update_light(const int& key, traffic_light_ptr ptl);

    // 更新红绿灯组数据
    void update_group(const int& key, traffic_light_group_ptr ptlg);

    // 查找附近的车
    std::vector<uint64_t> find_nearby_vehicle(const point& p,const int& dist, const uint64_t& card_id)
    {
        return m_geo_list.find_near(p.x, p.y, dist, card_id);
    }

    pos_data* get_position(const uint64_t& cid)
    {
        std::map<uint64_t, pos_data>::iterator it = m_map_card.find(cid);
        if(it == m_map_card.end())
        {
            log_error("[traffic_light] 找不到卡，card_id=%lld", cid);
            return nullptr;
        }

        return &(it->second);
    }

    void update(int x, int y, uint64_t cid)
    {
        m_geo_list.update(x, y, cid);
    }

    void vtlg_insert(const uint64_t& cid, traffic_light_group_ptr& group)
    {
        std::lock_guard<std::mutex> lg(m_vtlg_mutex);
        auto it = m_vehicle_traffic_groups.find(cid);
        if(it == m_vehicle_traffic_groups.end()){
            m_vehicle_traffic_groups.insert(std::make_pair(cid, std::list<traffic_light_group_ptr>()));
            it = m_vehicle_traffic_groups.find(cid);
        }
        if(it->second.size() >= m_light_group_ctrl_num){
            auto itg = it->second.front();
            itg->reset();
            it->second.pop_front();
        }
        it->second.push_back(group);
    }

    void vtlg_erase(const uint64_t& cid, traffic_light_group_ptr& group)
    {
        std::lock_guard<std::mutex> lg(m_vtlg_mutex);
        auto it = m_vehicle_traffic_groups.find(cid);
        if(it != m_vehicle_traffic_groups.end()){
            for(auto it_g = it->second.begin(); it_g != it->second.end();++it_g){
                if((*it_g)->m_group_id == group->m_group_id){
                    group->reset();
                    it->second.erase(it_g);
                    break;
                }
            }
        }
    }

    bool vtlg_exist(const uint64_t& cid, const int& gid)
    {
        auto it = m_vehicle_traffic_groups.find(cid);
        if(it == m_vehicle_traffic_groups.end()){
            return false;
        }

        for(auto it_g = it->second.begin(); it_g != it->second.end();++it_g){
            if((*it_g)->m_group_id == gid){
                return true;
            }
        }

        return false;
    }

    bool vtlg_exist(const int& gid)
    {
        bool ret = false;
        for(auto it : m_vehicle_traffic_groups)
        {
            if(vtlg_exist(it.first, gid)){
                ret = true;
                break;
            }    
        }

        return ret;
    }

    int vtlg_size(const uint64_t& cid)
    {
        auto it = m_vehicle_traffic_groups.find(cid);
        if(it == m_vehicle_traffic_groups.end()){
            return 0;
        }

        return it->second.size();
    }

    bool send_light_data(const int& light_id, const int& type, const int& shape){
        std::vector<char> msg;

        uint16_t cmd = THIRD_PARTY_CHAR_LIGHT_SETUP_STATE;
        tool_other::memcpy_int<uint16_t>(msg, cmd);
        tool_other::memcpy_int<uint32_t>(msg, light_id);

        msg.push_back(0x05);

        msg.push_back(static_cast<char>(shape));

        int16_t len = msg.size() + 2;
        int16_t crc = do_crc_1(msg, 0);

        auto it = msg.begin();
        msg.insert(it, len&0xff);
        it = msg.begin();
        msg.insert(it, (len>>8)&0xff);

        tool_other::memcpy_int<int16_t>(msg, crc);

        auto light_ptr = get(light_id);

        log_info("[light_info] ctrl light, light_id=%d, message's length=%d, light_ptr exist=%s", light_id, msg.size(), (light_ptr==nullptr)?"empty":"yes");

        std::vector<char> m = msg;
        output_message(std::move(m), light_id);

        if(light_ptr && light_ptr->m_clt){
            light_ptr->m_clt->send(std::move(msg));
        }

        return true;
    }

    void output_message(std::vector<char>&& msg, int light_id)
    {
        std::string s("红绿灯控制的数据帧，灯号=");
        s.append(std::to_string(light_id));
        s.append(":");

        char a[4] = {0};
        for(std::vector<char>::size_type i = 0;i < msg.size(); ++i){
            sprintf(a, "%02X ", static_cast<unsigned char>(msg[i]));
            s.append(std::string(a));
        }

        log_info("%s", s.c_str());
    }

    void output_upstreamidx()
    {
        std::string msg = "红绿灯上行排序顺序（灯组id, 排序索引）:";
        for(auto it : m_map_groups){
            char buf[20] = {0};
            sprintf(buf, "(%d,%d)", it.second->m_group_id, it.first);
            msg.append(std::string(buf));
        }

        log_info("%s", msg.c_str());
    }

    int remove_light(const int& id);
    int remove_light_group(const int& id);

    void set_scale(const double& scale)
    {
        m_map_scale = scale;
    }

    double get_scale()
    {
        return m_map_scale;
    }

    std::string get_light_state();

    bool on_path(const std::vector<pos_data>& vtp, const point& p);

    void visit_light_status();

    private:
    bool m_stop;
    double m_map_scale = 0.0;
    unsigned int m_light_group_ctrl_num{0};     // 控制红绿灯组数
    std::list<light_message> m_list_data;
    std::mutex m_mutex;
    std::mutex m_vtlg_mutex;
    std::condition_variable m_condition;
    std::unique_ptr<std::thread> m_thread_light;

    std::unique_ptr<crossing_rule> m_crossing_rule;     // 路口规则
    std::unique_ptr<avoidance_rule> m_avoidance_rule;   // 避让规则

    geo_list m_geo_list;
    hashmap_light m_unmap_lights;
    hashmap_group m_unmap_groups;
    map_group m_map_groups;
    std::map<uint64_t, pos_data> m_map_card;
    std::map<int, std::vector<line_v>> m_map_path;
    std::map<uint64_t, std::list<traffic_light_group_ptr>> m_vehicle_traffic_groups;

    sys::jsonBuilder m_jsBuilder;//json构造器类

};

#endif