server/module_service/module_traffic_light_manager.cpp

#include "module_traffic_light_manager.h"
#include "db_api/CDBSingletonDefine.h"
#include <db_api/CDBResultSet.h>
#include "websocket/constdef.h"
//#include "websocket/wsTimerThread.h"
#include "websocket/ws_common.h"
#include "event.h"

traffic_light_manager* traffic_light_manager::instance()
{
    static traffic_light_manager tlm;
    return &tlm;
}

/*
 * @breif
 *		加载红绿灯基础信息
 * @param
 *		int lid		红绿灯号
 * @return
 *		无
 * @note
 * @warning
 * @bug
 * */
void traffic_light_manager::init_light_from_db(int lid)
{
    /*std::string sql = "select light_id, lights_group_id, ip, x, y ,z, reader_id, state, port, physics_light_id, physics_light_direction, special_flag, stream_state from dat_light";
    if(0 == lid){
        sql += ";";
    }else{
        sql += " where light_id = " + std::to_string(lid);
        sql += ";";
    }

    std::string err = "";

    YADB::CDBResultSet res;
    sDBConnPool.Query(sql.c_str(), res, err);
    int count =  res.GetRecordCount(err);
    if(count < 1){
        log_error("增加或修改失败，error：%s", sql.c_str());
        return;
    }

    while(res.GetNextRecod(err)){
        int light_id = 0;
        res.GetField("light_id", light_id, err);
        int group_id = 0;
        res.GetField("lights_group_id", group_id, err);
        std::string ip = "";
        res.GetField("ip", ip, err);
        double x = 0.0, y = 0.0, z = 0.0;
        res.GetField("x", x, err);
        res.GetField("y", y, err);
        res.GetField("z", z, err);
        int site_id = 0, state = 0, port = 0, phy_light_id = 0, phy_direction = 0, special = 0, stream = 0;
        res.GetField("reader_id", site_id, err);
        res.GetField("state", state, err);
        res.GetField("port", port, err);
        res.GetField("physics_light_id", phy_light_id, err);
        res.GetField("physics_light_direction", phy_direction, err);
        res.GetField("special_flag", special, err);
        res.GetField("stream_state", stream, err);
        traffic_light_ptr pl = find_light(light_id);
        if(nullptr == pl){
            pl = std::make_shared<traffic_light>(x, y, z, light_id, group_id, ip, state, port, phy_light_id, phy_direction, special, stream);
            m_unmap_lights.insert(std::make_pair(light_id, pl));           
        }else{
            pl->update(x, y , z, light_id, group_id, ip, state, port, phy_light_id, phy_direction, special, stream);
        }

        // 将红绿灯分配到对应组中
        auto it_group = m_unmap_groups.find(pl->m_group_id);
        if(it_group != m_unmap_groups.end())
        {
            it_group->second->m_vt_lights.push_back(pl);
            pl->m_area_id = it_group->second->m_area_id;
            pl->m_map_id  = it_group->second->m_map_id;
        }
    }

    logn_info(2, "sql:%s",sql.c_str());*/
	std::string sql = "select light_id, lights_group_id, x, y, stream_state from dat_light";
    if(0 == lid){
        sql += ";";
    }else{
        sql += " where light_id = " + std::to_string(lid);
        sql += ";";
    }

    std::string err = "";

    YADB::CDBResultSet res;
    sDBConnPool.Query(sql.c_str(), res, err);
    int count =  res.GetRecordCount(err);
    if(count < 1){
        log_error("增加或修改失败，error：%s", sql.c_str());
        return;
    }

    while(res.GetNextRecod(err)){
        int light_id = 0;
        res.GetField("light_id", light_id, err);
        int group_id = 0;
        res.GetField("lights_group_id", group_id, err);
        std::string ip = "";
        res.GetField("ip", ip, err);
        double x = 0.0, y = 0.0, z = 0.0;
        res.GetField("x", x, err);
        res.GetField("y", y, err);
        int site_id = 0, state = 0, port = 0, phy_light_id = 0, phy_direction = 0, special = 0, stream = 0;
        res.GetField("stream_state", stream, err);
        traffic_light_ptr pl = find_light(light_id);
        if(nullptr == pl){
            pl = std::make_shared<traffic_light>(x, y, z, light_id, group_id, ip, state, port, phy_light_id, phy_direction, special, stream);
            m_unmap_lights.insert(std::make_pair(light_id, pl));           
        }else{
            pl->update(x, y , z, light_id, group_id, ip, state, port, phy_light_id, phy_direction, special, stream);
        }

        // 将红绿灯分配到对应组中
        auto it_group = m_unmap_groups.find(pl->m_group_id);
        if(it_group != m_unmap_groups.end())
        {
            it_group->second->m_vt_lights.push_back(pl);
            pl->m_area_id = it_group->second->m_area_id;
            pl->m_map_id  = it_group->second->m_map_id;
        }
    }

    logn_info(2, "sql:%s",sql.c_str());
}

/*
 * @brief
 *		 加载红绿灯组基础信息
 * @param
 *		int gid		红绿灯组id
 * @return
 *		无
 * @note
 * @warning
 * @bug
 *
 * */
void traffic_light_manager::init_light_group_from_db(int gid)
{
    /*std::string sql = "select lights_group_id, x, y, z, scope, map_id, area_id, manual_control_time, light_auto_interval, up_stream_idx from dat_lights_group";
    if(gid > 0){
        sql += " where lights_group_id = " + std::to_string(gid);
    }
    sql += ";";

    std::string err = "";
    YADB::CDBResultSet res;
    
    sDBConnPool.Query(sql.c_str(), res, err);
    int count = res.GetRecordCount(err);
    if(count < 1){
        log_error("增加或修改失败，数据库中找不到：sql=%s", sql.c_str());
        return;
    }

    while(res.GetNextRecod(err)){
        int group_id = 0;       
        res.GetField("lights_group_id", group_id, err); 
        double x = 0.0, y = 0.0, z = 0.0, scope = 0.0;
        res.GetField("x", x, err);
        res.GetField("y", y, err);
        res.GetField("z", z, err);
        res.GetField("scope", scope, err);
        int map_id = 0, area_id = 0;
        res.GetField("map_id", map_id, err);
        res.GetField("area_id", area_id, err);
        int ai = 0;
        res.GetField("light_auto_interval", ai, err);
        int usi = 0;
        res.GetField("up_stream_idx", usi, err);
        traffic_light_group_ptr pg = find_group(group_id);
        if(nullptr == pg){
            pg = std::make_shared<traffic_light_group>(x, y, z, group_id, scope, ai, map_id, area_id);
            m_unmap_groups.insert(std::make_pair(group_id, pg));
        }else{
            pg->update(x, y, z, group_id, scope, ai, map_id, area_id);
        }
        pg->set_down_stream_idx(usi);

        auto ppg = m_map_groups.find(usi);
        if(ppg == m_map_groups.end()){
            m_map_groups.insert(std::make_pair(usi, pg));
        }
    }
    
    logn_info(2, "sql:%s",sql.c_str());
    output_upstreamidx();*/
	
	std::string sql = "select lights_group_id, x, y, scope from dat_lights_group";
    if(gid > 0){
        sql += " where lights_group_id = " + std::to_string(gid);
    }
    sql += ";";

    std::string err = "";
    YADB::CDBResultSet res;
    
    sDBConnPool.Query(sql.c_str(), res, err);
    int count = res.GetRecordCount(err);
    if(count < 1){
        log_error("增加或修改失败，数据库中找不到：sql=%s", sql.c_str());
        return;
    }

    while(res.GetNextRecod(err)){
        int group_id = 0;       
        res.GetField("lights_group_id", group_id, err); 
        double x = 0.0, y = 0.0, z = 0.0, scope = 0.0;
        res.GetField("x", x, err);
        res.GetField("y", y, err);
        res.GetField("scope", scope, err);
        int map_id = 0, area_id = 0;
        traffic_light_group_ptr pg = find_group(group_id);
        if(nullptr == pg){
            pg = std::make_shared<traffic_light_group>(x, y, 0.0, group_id, scope, 0, 0, 0);
            m_unmap_groups.insert(std::make_pair(group_id, pg));
        }else{
            pg->update(x, y, z, group_id, scope, 0, 0, 0);
        }
    }
    
    logn_info(2, "sql:%s",sql.c_str());
}

void traffic_light_manager::init_light_group_path()
{
    std::string sql = "select reader_id, tof_flag, b_x, b_y, b_z, e_x, e_y, e_z, spacing_ratio from dat_reader_path_tof_n;";

    //std::map<int, std::vector<line_v>> map_path;

    std::string error;
    YADB::CDBResultSet res;
    sDBConnPool.Query(sql.c_str(), res, error);
    int count = res.GetRecordCount(error);

    log_info("init_light_group_path, the record count=%d\n", count);
    while(res.GetNextRecod(error)){
        int reader_id = 0;
        res.GetField("reader_id", reader_id, error);

        int pid=0;
        res.GetField("tof_flag", pid, error);

        double b_x = 0;
        res.GetField("b_x", b_x, error);

        double b_y = 0;
        res.GetField("b_y", b_y, error);

        double b_z = 0;
        res.GetField("b_z", b_z, error);

        double e_x = 0;
        res.GetField("e_x", e_x, error);

        double e_y = 0;
        res.GetField("e_y", e_y, error);

        double e_z = 0;
        res.GetField("e_z", e_z, error);

        double spacing_ratio = 0;
        res.GetField("spacing_ratio", spacing_ratio, error);

        log_info("[traffic_light] src-path: site=%d, x0=%.2f, y0=%.2f, x1=%.2f, y1=%.2f", reader_id, b_x, b_y, e_x, e_y);

        point p1(b_x, -b_y, spacing_ratio);
        point p2(e_x, -e_y, spacing_ratio);

        m_map_path.insert(std::make_pair(reader_id, std::vector<line_v>()));
        m_map_path.find(reader_id)->second.push_back(line_v(p1, p2));
    }

    for(auto itg : m_unmap_groups){
        for(auto itp : m_map_path){
            bool tag = false;
            for(size_t i = 0;i < itp.second.size();i++){
                if(itp.second[i].contain(point(itg.second->x, itg.second->y),1)){
                    tag = true;
                }
            } 
            if(tag){
                itg.second->set_path(itp.second);
            }
        }
    }
}

void traffic_light_manager::init_map(int id)
{
    std::string sql = "select map_id, scale from dat_map";
    if(id > 0){
        sql += " where map_id = " + std::to_string(id);
    }
    sql += ";";

    std::string err = "";
    YADB::CDBResultSet res;
    
    sDBConnPool.Query(sql.c_str(), res, err);
    int count = res.GetRecordCount(err);
    if(count < 1){
        log_error("增加或修改失败，数据库中找不到：sql=%s", sql.c_str());
        return;
    }

    while(res.GetNextRecod(err)){
        int map_id = 0;       
        res.GetField("map_id", map_id, err);

        double scale = 0.0;
        res.GetField("scale", scale, err);

        set_scale(scale);
        log_info("init_map: map_id=%d, scale=%.2f", map_id, scale);
    }

    logn_info(2, "sql:%s" ,sql.c_str());
}

void traffic_light_manager::init(const int& lgc)
{
    // 1.先获得红绿灯组数据
    init_light_group_from_db();
    init_light_group_path();
    // 2.再获得红绿灯数据
    init_light_from_db();
    init_map();

    for(hashmap_light::iterator it_light = m_unmap_lights.begin(); it_light != m_unmap_lights.end(); ++it_light){
        if(it_light->second->m_group_id >0){
            hashmap_group::iterator it_group = m_unmap_groups.find(it_light->second->m_group_id);
            if(it_group != m_unmap_groups.end()){
                it_group->second->insert(it_light->second);
            }
        }
    }

    for(auto it : m_unmap_groups){
        log_info("[traffic_light] gid=%d, size=%d", it.first, it.second->m_vt_lights.size());
    }

    m_light_group_ctrl_num = lgc;
}

void traffic_light_manager::start()
{
    log_info("[traffic_light] start traffic light service, light_group's size=%d", m_unmap_groups.size());
    m_stop = false;
    m_crossing_rule = std::unique_ptr<crossing_rule>(new crossing_rule);
    if(nullptr == m_crossing_rule){
        log_info("[traffic_light] create crossing rule failed");
        return;
    }else{
        for(auto it = m_unmap_groups.begin(); it != m_unmap_groups.end(); ++it)
        {
            m_crossing_rule->put(it->second);
        }
    }

    m_avoidance_rule = std::unique_ptr<avoidance_rule>(new avoidance_rule);
    if(nullptr == m_avoidance_rule){
        log_info("[traffic_light] create avoidance rule failed");
        return;
    }else{
        for(auto it = m_unmap_groups.begin(); it != m_unmap_groups.end(); ++it)
        { 
            log_info("[traffic_light] insert light group %d into area, area_id=%d", it->second->m_group_id, it->second->m_area_id);
            m_avoidance_rule->put(it->second);
        }
    }

    log_info("[traffic_light] rule's map size, crossing=%d, avoidance=%d", m_crossing_rule->size(), m_avoidance_rule->size());
    m_thread_light.reset(new std::thread(std::bind(&traffic_light_manager::run, this)));
}

void traffic_light_manager::stop()
{
    log_info("[traffic_light] stop traffic light service");
    m_stop = true;
    m_thread_light->join();
}

void traffic_light_manager::put(const light_message& msg)
{
    std::unique_lock<std::mutex> lock(m_mutex);
    m_list_data.push_back(msg);
    lock.unlock();
    m_condition.notify_all();
}

void traffic_light_manager::run()
{
    while(!m_stop){
        std::list<light_message> tmp_data;
        tmp_data.clear();
        {
            std::unique_lock<std::mutex> lock(m_mutex);
            while(m_list_data.empty()){
                m_condition.wait(lock);
            }

            if(m_list_data.size() > 0){
                m_list_data.swap(tmp_data);
            }

            lock.unlock();
        }

        for(std::list<light_message>::iterator it = tmp_data.begin(); it != tmp_data.end(); ++it){
            switch(it->m_cmd){
                case cmd_reload:
                    log_info("[traffic_light] cmd=%d, gid=%d, lid=%d",it->m_cmd, it->m_group_id, it->m_light_id);
                    handle_reload(it->m_group_id, it->m_light_id);
                    break;
                case cmd_manual_ctrl:
                    log_info("[traffic_light] cmd=%d, gid=%d, lid=%d, name=%s, lc=%d", it->m_cmd, it->m_group_id, it->m_light_id, it->m_ctrl_name.c_str(), it->m_light_state);
                    handle_manual(it->m_group_id,it->m_light_id, it->m_ctrl_name, it->m_light_state);
                    break;
                case cmd_card_data:
                    log_info("[traffic_light] cmd=%d, cid=%d, ctype=%d, bigger=%d, aid=%d, speed=%.2f, sid=%d", it->m_cmd, it->m_pos.m_card_id, it->m_pos.m_type, it->m_pos.m_bigger, it->m_pos.m_area_id, it->m_pos.m_speed, it->m_pos.m_site_id);
                    handle_position(it->m_pos);
                    break;
                default:
                    log_warn("[traffic_light] message cmd error, cmd=%d", it->m_cmd);
                    break;
            } 
        }
    }

    log_info("[traffic_light] working thread is exit. m_stop=%d", m_stop);
}

// 红绿灯及灯组基础数据更新
void traffic_light_manager::handle_reload(const int& gid, const int& lid)
{
    if(lid > 0){
        init_light_from_db(lid);
    } 
    if(gid > 0){
        init_light_group_from_db(gid);
    }
}

// 红绿灯基础数据更新
int traffic_light_manager::reload_light(const int& lid)
{
    init_light_from_db(lid);
    return 0;
}

// 灯组基础数据更新
int traffic_light_manager::reload_group(const int& gid)
{
    init_light_group_from_db(gid);
    return 0;
}

std::vector<traffic_light_group_ptr> traffic_light_manager::find_stream_groups(traffic_light_group_ptr ptr_group, const move_stream& stream)
{
    std::vector<traffic_light_group_ptr> vt_group;

       switch(stream){
        case move_stream::up_stream:
            {
                auto itg = m_map_groups.end();
                for(auto it = m_map_groups.begin(); it !=  m_map_groups.end(); ++it){
                    if(it->second->m_group_id == ptr_group->m_group_id){
                        itg = it;
                    }
                }
    
                auto ite = itg;
                std::advance(ite, m_light_group_ctrl_num);

                std::for_each(itg, ite, [&vt_group](std::pair<int, traffic_light_group_ptr> p){
                    if(p.second != nullptr){
                        vt_group.push_back(p.second);
                    }
                    });
            }
            break;
        case move_stream::down_stream:
             {
                auto itg = m_map_groups.rend();
                for(auto it = m_map_groups.rbegin(); it != m_map_groups.rend(); ++it){
                    if(it->second->m_group_id == ptr_group->m_group_id){
                        itg = it;
                    }
                }
    
                auto ite = itg;
                std::advance(ite, m_light_group_ctrl_num);

                std::for_each(itg, ite, [&vt_group](std::pair<int, traffic_light_group_ptr> p){
                    if(p.second != nullptr){
                        vt_group.push_back(p.second);
                    }
                    });
            }

            break;
        default:
            break;
    }

    return std::move(vt_group);
}

// 处理web端发起的手工控制
void traffic_light_manager::manual_ctrl(sio::message::ptr const& data)
{
    std::map<std::string, sio::message::ptr> mp = data->get_map()[JSON_ROOT_KEY_DATA]->get_map();
    log_info("[traffic_light] map's size=%d", mp.size());

    light_message lm;
    lm.m_group_id       = mp["group_id"]->get_int();
    lm.m_light_id       = mp["light_id"]->get_int();
    lm.m_light_state    = mp["light_color"]->get_int();
    lm.m_ctrl_name      = mp["ctrl_name"]->get_string();
    int ctrl = mp["control"]->get_int();
        
    // 如果手工控制，否则取消手工控制
    (ctrl == 1)?set_manual(lm):cancel_manual(lm);
}

void traffic_light_manager::handle_manual(const int& gid, const int& ld, const std::string& name, const int& lc)
{
    traffic_light_group_ptr pg = find_group(gid);
    if(nullptr != pg){
        pg->set_manual_ctrl(name, ld, lc);
    }
}

bool traffic_light_manager::on_path(const std::vector<pos_data>& vtp, const point& p)
{
    if(vtp.size() < 2){
        return false;
    }
    int sid = vtp[0].m_site_id;

    auto it = m_map_path.find(sid);

    bool exist = false;
    if(it != m_map_path.end()){
        for(size_t i = 0;i<it->second.size();++i)
        {
            if(it->second[i].contain(p, 20)){
                exist = true;
                break;
            }
        }
    }

    return exist;
}

// 红绿灯处理模块入口
void traffic_light_manager::handle_position(pos_data& p)
{
    if(p.m_type == 3 || p.m_type == 1){
        std::map<uint64_t, pos_data>::iterator it = m_map_card.find(p.m_card_id);
        if(it != m_map_card.end()){
            m_map_card.erase(it);
        }
    }else if(p.m_type == 2){
        update(p.x, p.y, p.m_card_id);
        m_map_card[p.m_card_id] = p;
        log_info("[traffic_light] handle position, card_id=%d, x=%.2f, y=%.2f, aid=%d, speed=%.2f, sid=%d", p.m_card_id, p.x, p.y, p.m_area_id, p.m_speed, p.m_site_id);
        // 路口规则
        if(nullptr != m_crossing_rule){
            m_crossing_rule->put_pos(p);
            m_crossing_rule->handle_rule(p);
        }

        if(!p.m_bigger && nullptr != m_avoidance_rule){
            m_avoidance_rule->put_pos(p);
            m_avoidance_rule->handle_rule(p);
        }
    }
}

// 手工控制红绿灯
void traffic_light_manager::set_manual(light_message& msg)
{
    auto g = m_unmap_groups.find(msg.m_group_id);
    if(g != m_unmap_groups.end()){ 
        for(auto it : g->second->m_vt_lights){
            if(it->m_light_id == msg.m_light_id){
                send_light_data(msg.m_light_id, 0, msg.m_light_state);
            }
       }

        //log_info("[traffic_light] manual ctrl's group info, group_id=%d, light %d's shape is %d, other's shape is %d", msg.m_group_id, msg.m_light_id, msg.m_light_state, state);
    }
}

// 取消手工控制
void traffic_light_manager::cancel_manual(light_message& msg)
{
    auto g = m_unmap_groups.find(msg.m_group_id);
    if(g != m_unmap_groups.end()){
        g->second->get_turn();
        g->second->reset();
        g->second->release_turn();

        for(auto it_light : g->second->m_vt_lights){
            send_light_data(it_light->m_light_id, 0, it_light->m_state);
        }

        log_info("[traffic_light] %s cancel manual control %d's light group of %d light", msg.m_ctrl_name.c_str(), msg.m_group_id, msg.m_light_id);
    }
}

int traffic_light_manager::remove_light(const int& id)
{
    std::lock_guard<std::mutex> lg(m_mutex);

    auto it = m_unmap_lights.find(id);
    if(it != m_unmap_lights.end()){
        m_unmap_lights.erase(it);
    } 
 
    log_info("[meta_data_change] remove light, lid=%d", id);

    return 0;
}

/*
 * @brief       删除红绿灯组
 * @param       红绿灯组id号
 * @return      成功返回0
 * @note
 * @warning
 * @bug
 * */

int traffic_light_manager::remove_light_group(const int& id)
{
    std::lock_guard<std::mutex> lg(m_mutex);

    auto it = m_unmap_groups.find(id);
    if(it != m_unmap_groups.end()){
        m_unmap_groups.erase(it);
    }

    log_info("[meta_data_change] remove light group, gid=%d", id);

    return 0;
}

/*
 * @brief       获得红绿灯实时状态
 * @param       无
 * @return      无
 * @note
 * @warning
 * @bug
 * */

std::string traffic_light_manager::get_light_state()
{
    std::lock_guard<std::mutex> lg(m_vtlg_mutex);

    std::vector<sys::light_state> lights;

    for(auto itg : m_unmap_groups){
        for(auto itl : itg.second->m_vt_lights){
            sys::light_state state;

            state.m_group_id = itg.second->m_group_id;
            state.m_light_id = itl->m_light_id;
            state.m_light_state = itl->m_state;
            //state.m_card_id = itg->second->m_card_id;

            lights.push_back(state);
        }
    }

    return m_jsBuilder.build_traffic_light(lights);
}

/*
 * @brief       红绿灯失联告警, 红绿灯超过30秒未收到心跳数据产生红绿灯失联告警
 * 如果采集在30秒内未收到红绿灯的心跳数据，产生红绿灯失联告警；(告警id+start_time)
 * 采集收到了红绿灯心跳数据，结束红绿灯失联告警(告警id+end_time)
 * @param       无
 * @return      无
 * @note
 * modified by zhuyf, 2022-04-22
 * @warning
 * @bug
 * */
void traffic_light_manager::visit_light_status()
{
    std::lock_guard<std::mutex> lg(m_mutex);

    time_t now = time(0);

    int diff = 0;

    for(auto it : m_unmap_lights){
        diff = now - it.second->m_rec_time;

        event_tool::instance()->handle_event(OT_DEVICE_LIGHT, ET_LIGHT_ERROR, it.second->m_light_id, LIGHT_TIMEOUT, diff, (diff > LIGHT_TIMEOUT));
    }
}