单片机互通调试初步完成
This commit is contained in:
233
esp32_robot_firmware/mqtt_handler.cpp
Normal file
233
esp32_robot_firmware/mqtt_handler.cpp
Normal file
@@ -0,0 +1,233 @@
|
||||
#include "mqtt_handler.h"
|
||||
#include "config.h" // 确保config.h被包含以获取定义
|
||||
#include <WiFi.h>
|
||||
|
||||
// ----------- 全局MQTT相关变量 -----------
|
||||
WiFiClient espClient;
|
||||
PubSubClient mqttClient(espClient);
|
||||
CommandCallback global_command_callback = nullptr;
|
||||
|
||||
// 主题字符串
|
||||
String topic_uplink_to_backend;
|
||||
String topic_downlink_from_backend;
|
||||
|
||||
// 将RobotStatus枚举转换为字符串 (与后端DTO的actualRobotStatus对应)
|
||||
const char* robotStatusToString(RobotStatus status) {
|
||||
switch (status) {
|
||||
case IDLE: return "IDLE";
|
||||
case MOVING: return "MOVING";
|
||||
case CHARGING: return "CHARGING";
|
||||
case COMPLETED: return "COMPLETED";
|
||||
case FAULTED: return "FAULTED"; // 或 "ERROR"
|
||||
default: return "UNKNOWN";
|
||||
}
|
||||
}
|
||||
|
||||
void callback(char* topic, byte* payload, unsigned int length) {
|
||||
Serial.print("消息抵达, 主题: ");
|
||||
Serial.println(topic);
|
||||
|
||||
char message[length + 1];
|
||||
memcpy(message, payload, length);
|
||||
message[length] = '\0';
|
||||
Serial.print("消息内容: ");
|
||||
Serial.println(message);
|
||||
|
||||
if (String(topic) != topic_downlink_from_backend) {
|
||||
Serial.println("消息非来自预期的指令主题，忽略。");
|
||||
return;
|
||||
}
|
||||
|
||||
StaticJsonDocument<256> doc;
|
||||
DeserializationError error = deserializeJson(doc, message);
|
||||
|
||||
if (error) {
|
||||
Serial.print("JSON 解析失败: ");
|
||||
Serial.println(error.f_str());
|
||||
// 可以在这里发送一个格式错误的ACK，但通常不建议对无法解析的taskId发ACK
|
||||
return;
|
||||
}
|
||||
|
||||
const char* cmdType = nullptr;
|
||||
if (doc.containsKey("commandType")) {
|
||||
cmdType = doc["commandType"];
|
||||
} else if (doc.containsKey("command")) {
|
||||
cmdType = doc["command"];
|
||||
}
|
||||
const char* taskId = doc["taskId"];
|
||||
|
||||
if (cmdType == nullptr || taskId == nullptr) {
|
||||
Serial.println("指令JSON缺少 commandType/command 或 taskId 字段。");
|
||||
// 尝试发送ACK，即使taskId可能为null，但通常最好有taskId
|
||||
mqtt_publish_ack(taskId, false, "Command JSON invalid (missing commandType/command or taskId)", IDLE /*随便给个状态*/, nullptr);
|
||||
return;
|
||||
}
|
||||
|
||||
const char* targetSpot = nullptr;
|
||||
if (doc.containsKey("spotId")) {
|
||||
targetSpot = doc["spotId"].as<const char*>();
|
||||
} else if (doc.containsKey("target_spot_uid")) {
|
||||
targetSpot = doc["target_spot_uid"].as<const char*>();
|
||||
}
|
||||
|
||||
Serial.printf("解析到指令: Type=%s, TaskID=%s, TargetSpot=%s\n", cmdType, taskId, targetSpot ? targetSpot : "N/A");
|
||||
|
||||
if (global_command_callback) {
|
||||
global_command_callback(cmdType, taskId, targetSpot);
|
||||
} else {
|
||||
Serial.println("错误: 指令回调函数未设置!");
|
||||
}
|
||||
}
|
||||
|
||||
void connect_wifi() {
|
||||
Serial.println("正在连接 Wi-Fi...");
|
||||
WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
|
||||
while (WiFi.status() != WL_CONNECTED) {
|
||||
delay(500);
|
||||
Serial.print(".");
|
||||
}
|
||||
Serial.println("\nWi-Fi 连接成功!");
|
||||
Serial.print("IP 地址: ");
|
||||
Serial.println(WiFi.localIP());
|
||||
}
|
||||
|
||||
void reconnect_mqtt() {
|
||||
while (!mqttClient.connected()) {
|
||||
Serial.print("尝试连接 MQTT Broker: ");
|
||||
Serial.println(MQTT_BROKER_HOST);
|
||||
String clientId = "esp32-robot-" + String(DEVICE_UID) + "-" + String(random(0xffff), HEX);
|
||||
Serial.printf("客户端 ID: %s \n", clientId.c_str());
|
||||
|
||||
if (mqttClient.connect(clientId.c_str(), MQTT_USERNAME, MQTT_PASSWORD)) {
|
||||
Serial.println("MQTT Broker 连接成功!");
|
||||
mqttClient.subscribe(topic_downlink_from_backend.c_str());
|
||||
Serial.println("已订阅指令主题: " + topic_downlink_from_backend);
|
||||
// 连接成功后可以发送一次初始状态，但这通常由主逻辑决定
|
||||
} else {
|
||||
Serial.print("连接失败, rc=");
|
||||
Serial.print(mqttClient.state());
|
||||
Serial.println(" 2秒后重试...");
|
||||
delay(2000);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ----------- Public Functions -----------
|
||||
void mqtt_setup(CommandCallback cmd_callback) {
|
||||
global_command_callback = cmd_callback;
|
||||
|
||||
// 构建主题字符串
|
||||
String base_topic_path = MQTT_TOPIC_BASE;
|
||||
topic_uplink_to_backend = base_topic_path + "/status/" + String(DEVICE_UID);
|
||||
topic_downlink_from_backend = base_topic_path + "/command/" + String(DEVICE_UID);
|
||||
|
||||
Serial.println("MQTT 主题初始化完成:");
|
||||
Serial.println(" 上行主题: " + topic_uplink_to_backend);
|
||||
Serial.println(" 下行主题: " + topic_downlink_from_backend);
|
||||
|
||||
connect_wifi();
|
||||
mqttClient.setServer(MQTT_BROKER_HOST, MQTT_BROKER_PORT);
|
||||
mqttClient.setCallback(callback);
|
||||
}
|
||||
|
||||
void mqtt_loop() {
|
||||
if (!mqttClient.connected()) {
|
||||
reconnect_mqtt();
|
||||
}
|
||||
mqttClient.loop();
|
||||
}
|
||||
|
||||
void mqtt_publish_status_update(
|
||||
RobotStatus current_status,
|
||||
const char* location,
|
||||
int battery_level,
|
||||
const char* current_task_id, // 这个字段在我们的状态消息中通常不直接用，但保留参数以备将来
|
||||
const char* target_spot,
|
||||
const char* current_spot,
|
||||
unsigned long charge_duration_seconds,
|
||||
int error_code,
|
||||
const char* error_message
|
||||
) {
|
||||
StaticJsonDocument<512> doc;
|
||||
doc["robotUid"] = DEVICE_UID;
|
||||
doc["actualRobotStatus"] = robotStatusToString(current_status);
|
||||
|
||||
if (location) doc["location"] = location;
|
||||
doc["battery"] = battery_level;
|
||||
|
||||
// 根据状态添加特定字段
|
||||
switch (current_status) {
|
||||
case MOVING:
|
||||
if (target_spot) doc["targetSpot"] = target_spot;
|
||||
break;
|
||||
case CHARGING:
|
||||
if (current_spot) doc["spotId"] = current_spot;
|
||||
doc["durationSeconds"] = charge_duration_seconds;
|
||||
break;
|
||||
case COMPLETED:
|
||||
if (current_spot) doc["spotId"] = current_spot;
|
||||
// totalDurationSeconds 通常在特定完成事件的ACK中上报更准确
|
||||
break;
|
||||
case FAULTED:
|
||||
doc["errorCode"] = error_code; // 仅在FAULTED状态下发送错误码
|
||||
if (error_message) doc["message"] = error_message;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
// 注意：移除了常规状态更新中的errorCode，除非状态是FAULTED
|
||||
|
||||
String jsonBuffer;
|
||||
serializeJson(doc, jsonBuffer);
|
||||
Serial.print("发送 StatusUpdate 到主题 [");
|
||||
Serial.print(topic_uplink_to_backend);
|
||||
Serial.print("]: ");
|
||||
Serial.println(jsonBuffer);
|
||||
|
||||
if (mqttClient.publish(topic_uplink_to_backend.c_str(), jsonBuffer.c_str())) {
|
||||
Serial.println("StatusUpdate 发送成功");
|
||||
} else {
|
||||
Serial.println("StatusUpdate 发送失败");
|
||||
}
|
||||
}
|
||||
|
||||
void mqtt_publish_ack(
|
||||
const char* task_id,
|
||||
bool success,
|
||||
const char* message,
|
||||
RobotStatus current_robot_status_at_ack,
|
||||
const char* ack_context_spot_id
|
||||
) {
|
||||
if (!task_id) {
|
||||
Serial.println("无法发送ACK: taskId 为空");
|
||||
return;
|
||||
}
|
||||
StaticJsonDocument<256> doc;
|
||||
doc["robotUid"] = DEVICE_UID;
|
||||
doc["taskId"] = task_id;
|
||||
doc["status"] = success ? "SUCCESS" : "FAILURE";
|
||||
if (message) doc["message"] = message;
|
||||
doc["actualRobotStatus"] = robotStatusToString(current_robot_status_at_ack);
|
||||
if (ack_context_spot_id) {
|
||||
doc["spotId"] = ack_context_spot_id; // 在ACK上下文中关联spotId
|
||||
}
|
||||
// 根据之前的讨论，ACK中不发送errorCode字段
|
||||
|
||||
String jsonBuffer;
|
||||
serializeJson(doc, jsonBuffer);
|
||||
Serial.print("发送 ACK/TaskUpdate 到主题 [");
|
||||
Serial.print(topic_uplink_to_backend);
|
||||
Serial.print("]: ");
|
||||
Serial.println(jsonBuffer);
|
||||
|
||||
if (mqttClient.publish(topic_uplink_to_backend.c_str(), jsonBuffer.c_str())) {
|
||||
Serial.println("ACK/TaskUpdate 发送成功");
|
||||
} else {
|
||||
Serial.println("ACK/TaskUpdate 发送失败");
|
||||
}
|
||||
}
|
||||
|
||||
// 这个函数可以移除或重新设计，因为状态现在由主逻辑管理并通过参数传递给 publish 函数
|
||||
// RobotStatus mqtt_get_current_robot_status_commanded() {
|
||||
// return IDLE; // Placeholder
|
||||
// }
|
||||
Reference in New Issue
Block a user