修复mqtt消息历史分页问题

2025-05-30 18:15:27 +08:00
parent 5612b2e782
commit d0a550cab6
4 changed files with 127 additions and 59 deletions
--- a/charging_web_app/src/app/(authenticated)/admin/mqtt-logs/page.tsx
+++ b/charging_web_app/src/app/(authenticated)/admin/mqtt-logs/page.tsx
@@ -31,24 +31,45 @@ const MqttCommunicationLogPage: React.FC = () => {
    showTotal: (total) => `共 ${total} 条记录`,
  });

-  const fetchData = useCallback(async (params: MqttLogQueryRequest = {}) => {
+  const fetchData = useCallback(async (params: Partial<MqttLogQueryRequest & { dateRange?: [dayjs.Dayjs, dayjs.Dayjs] | null, antdOrder?: 'ascend' | 'descend' | null }> = {}) => {
    setLoading(true);
-    const queryParams: MqttLogQueryRequest = {
-      current: pagination.current,
-      pageSize: pagination.pageSize,
-      ...form.getFieldsValue(), // Get values from the form
-      ...params, // Override with any explicitly passed params (like sorters)
+    
+    const formValues = form.getFieldsValue();
+
+    const currentPage = params.current !== undefined ? params.current : pagination.current;
+    const currentPageSize = params.pageSize !== undefined ? params.pageSize : pagination.pageSize;
+
+    const queryParamsBuild: Partial<MqttLogQueryRequest> = {
+      ...formValues,
+      ...params,
+      current: currentPage,
+      pageSize: currentPageSize,
    };

-    // Handle dateRange from AntD RangePicker
-    if (queryParams.dateRange && queryParams.dateRange[0] && queryParams.dateRange[1]) {
-      queryParams.startTime = queryParams.dateRange[0].toISOString();
-      queryParams.endTime = queryParams.dateRange[1].toISOString();
-      delete queryParams.dateRange; // Remove from params sent to backend
+    if (params.antdOrder) {
+      queryParamsBuild.sortOrder = params.antdOrder;
+    } else if (params.hasOwnProperty('antdOrder') && params.antdOrder === null) {
+      queryParamsBuild.sortOrder = undefined;
+      queryParamsBuild.sortField = undefined;
+    } else if (!params.sortField) {
+      queryParamsBuild.sortOrder = undefined;
    }
+    delete (queryParamsBuild as any).antdOrder;
+
+    const effectiveDateRange = params.dateRange !== undefined ? params.dateRange : formValues.dateRange;
+    if (effectiveDateRange && effectiveDateRange[0] && effectiveDateRange[1]) {
+      queryParamsBuild.startTime = effectiveDateRange[0].toISOString();
+      queryParamsBuild.endTime = effectiveDateRange[1].toISOString();
+    } else {
+      queryParamsBuild.startTime = undefined;
+      queryParamsBuild.endTime = undefined;
+    }
+    delete (queryParamsBuild as any).dateRange;
+
+    const finalQueryParams = queryParamsBuild as MqttLogQueryRequest;

    try {
-      const response: BaseResponse<PageResponse<MqttCommunicationLog>> = await fetchMqttLogs(queryParams);
+      const response: BaseResponse<PageResponse<MqttCommunicationLog>> = await fetchMqttLogs(finalQueryParams);
      if (response.code === 0 && response.data) {
        setLogs(response.data.records || []);
        setPagination(prev => ({
@@ -84,10 +105,17 @@ const MqttCommunicationLogPage: React.FC = () => {
    sorter: SorterResult<MqttCommunicationLog> | SorterResult<MqttCommunicationLog>[],
  ) => {
    const currentSorter = Array.isArray(sorter) ? sorter[0] : sorter;
-    const sortParams: MqttLogQueryRequest = {};
-    if (currentSorter && currentSorter.field && currentSorter.order) {
-      sortParams.sortField = String(currentSorter.field);
-      sortParams.sortOrder = currentSorter.order;
+    const paramsToFetch: Partial<MqttLogQueryRequest & { antdOrder?: 'ascend' | 'descend' | null }> = {
+      current: newPagination.current,
+      pageSize: newPagination.pageSize,
+    };
+
+    if (currentSorter && currentSorter.field) {
+      paramsToFetch.sortField = String(currentSorter.field);
+      paramsToFetch.antdOrder = currentSorter.order;
+    } else {
+      paramsToFetch.sortField = undefined;
+      paramsToFetch.antdOrder = null;
    }

    setPagination(prev => ({
@@ -96,22 +124,33 @@ const MqttCommunicationLogPage: React.FC = () => {
        pageSize: newPagination.pageSize,
    }));
    
-    // fetchData will pick up new pagination from state
-    // and form values, and will merge sortParams
-    fetchData(sortParams); 
+    fetchData(paramsToFetch); 
  };

-  const onFinish = () => {
-    // Reset to first page on new search
+  const onFinish = (values: MqttLogQueryRequest & { dateRange?: [dayjs.Dayjs, dayjs.Dayjs] | null }) => {
    setPagination(prev => ({ ...prev, current: 1 })); 
-    fetchData(); // fetchData will use current form values and new pagination
+    fetchData({
+        ...values,
+        current: 1,
+        sortField: undefined,
+        antdOrder: null,
+    });
  };

  const handleReset = () => {
    form.resetFields();
-    setPagination(prev => ({ ...prev, current: 1 }));
-    // After reset, fetch with default (cleared) form values
-    fetchData({}); // Pass empty object to ensure sortField/sortOrder are not persisted from previous state if any
+    setPagination(prev => ({ ...prev, current: 1, pageSize: 20 }));
+    fetchData({
+        current: 1, 
+        pageSize: 20, 
+        sortField: undefined, 
+        antdOrder: null,
+        clientId: undefined,
+        topic: undefined,
+        direction: undefined,
+        payloadContains: undefined,
+        dateRange: undefined,
+    });
  };

  if (!user && !loading) {
@@ -254,7 +293,7 @@ const MqttCommunicationLogPage: React.FC = () => {
          pagination={pagination}
          loading={loading}
          onChange={handleTableChange}
-          scroll={{ x: 1500 }} // Enable horizontal scroll if content is too wide
+          scroll={{ x: 1500 }}
          bordered
        />
      </Card>
--- a/esp32_robot_firmware/esp32_robot_firmware.ino
+++ b/esp32_robot_firmware/esp32_robot_firmware.ino
@@ -27,47 +27,53 @@ void handle_mqtt_command(const char* commandType, const char* taskId, const char
    Serial.println();

    current_active_task_id = String(taskId);
+    const char* cmd_ack_val = nullptr; // 用于存储指令的中文ACK值

    if (strcmp(commandType, "MOVE") == 0 || strcmp(commandType, "MOVE_TO_SPOT") == 0) {
+        cmd_ack_val = "移动到指定点";
        if (targetSpotId && strlen(targetSpotId) > 0) {
            if (current_robot_status == IDLE || current_robot_status == COMPLETED || current_robot_status == FAULTED) {
                Serial.print("指令有效: 准备移动到 "); Serial.println(targetSpotId);
                target_spot_for_move = String(targetSpotId);
                // 状态将在navigation_move_to_spot开始时变为MOVING
-                // navigation_move_to_spot会阻塞，直到完成、失败或超时
+                // 注意：这里的ACK是针对指令接收无效的情况，移动完成的ACK在loop中处理
            } else {
                Serial.println("指令无效: 机器人当前不处于可接收MOVE指令的状态。");
-                mqtt_publish_ack(taskId, false, "Robot busy or not in correct state for MOVE", current_robot_status, nullptr);
+                mqtt_publish_ack(taskId, false, "Robot busy or not in correct state for MOVE", current_robot_status, nullptr, cmd_ack_val);
                current_active_task_id = "";
            }
        } else {
            Serial.println("指令错误: MOVE 指令缺少 targetSpotId/target_spot_uid。");
-            mqtt_publish_ack(taskId, false, "MOVE command missing target spot ID", current_robot_status, nullptr);
+            mqtt_publish_ack(taskId, false, "MOVE command missing target spot ID", current_robot_status, nullptr, cmd_ack_val);
            current_active_task_id = "";
        }
    } else if (strcmp(commandType, "STOP_CHARGE") == 0) {
+        cmd_ack_val = "停止充电";
        if (current_robot_status == CHARGING) {
            Serial.println("指令有效: 停止充电。");
            current_robot_status = COMPLETED; // 立即改变状态
            relay_stop_charging();
            unsigned long charge_duration = (robot_charge_start_time_ms > 0) ? (millis() - robot_charge_start_time_ms) / 1000 : 0;
            robot_charge_start_time_ms = 0;
-            robot_current_location = navigation_get_current_spot_count() > 0 ? String(SPOT_IDS[navigation_get_current_spot_count()-1]) : robot_current_location; // 假设停在最后一个检测到的桩
-            mqtt_publish_ack(taskId, true, ("Charging stopped. Duration: " + String(charge_duration) + "s").c_str(), current_robot_status, robot_current_location.c_str());
-            // 立即发布一次状态更新
-            mqtt_publish_status_update(current_robot_status, robot_current_location.c_str(), robot_battery_level, nullptr, nullptr, robot_current_location.c_str(), 0, 0, nullptr);
+            // 假设停在最后一个检测到的桩或已知位置
+            // robot_current_location 更新逻辑可以更精细，例如，如果充电时就知道spotId
+            mqtt_publish_ack(taskId, true, ("Charging stopped. Duration: " + String(charge_duration) + "s").c_str(), current_robot_status, robot_current_location.c_str(), cmd_ack_val);
+            mqtt_publish_status_update(current_robot_status, robot_current_location.c_str(), robot_battery_level, nullptr, nullptr, robot_current_location.c_str(), 0, 0, nullptr, nullptr);
        } else {
            Serial.println("指令无效: 机器人未在充电状态。");
-            mqtt_publish_ack(taskId, false, "Robot not in CHARGING state for STOP_CHARGE", current_robot_status, nullptr);
+            mqtt_publish_ack(taskId, false, "Robot not in CHARGING state for STOP_CHARGE", current_robot_status, nullptr, cmd_ack_val);
        }
        current_active_task_id = ""; // STOP_CHARGE任务通常是瞬时完成
-    } else if (strcmp(commandType, "START_CHARGE") == 0) { // 保留旧指令处理的ACK，但业务上已忽略
+    } else if (strcmp(commandType, "START_CHARGE") == 0) { 
+         cmd_ack_val = "开始充电";
         Serial.println("收到 START_CHARGE 指令，但业务逻辑为到达即充，仅ACK。");
-         mqtt_publish_ack(taskId, true, "START_CHARGE acknowledged (auto-charge on arrival)", current_robot_status, robot_current_location.c_str());
+         mqtt_publish_ack(taskId, true, "START_CHARGE acknowledged (auto-charge on arrival)", current_robot_status, robot_current_location.c_str(), cmd_ack_val);
         current_active_task_id = "";
    } else {
        Serial.print("未知指令类型: "); Serial.println(commandType);
-        mqtt_publish_ack(taskId, false, "Unknown command type", current_robot_status, nullptr);
+        // 对于未知指令，不确定后端是否能处理没有正确 command_ack 的ACK，或者是否应该发送ACK
+        // 为安全起见，可以不发送，或发送一个带通用错误信息的（但后端可能不认）
+        // mqtt_publish_ack(taskId, false, "Unknown command type", current_robot_status, nullptr, "未知指令"); 
        current_active_task_id = "";
    }
 }
@@ -109,31 +115,40 @@ void loop() {
    // --- 状态机和任务处理 ---
    if (target_spot_for_move.length() > 0 && (current_robot_status == IDLE || current_robot_status == COMPLETED || current_robot_status == FAULTED) ) {
        Serial.print("开始执行移动任务到: "); Serial.println(target_spot_for_move);
+        current_robot_status = MOVING; // 明确在开始导航前设置状态为MOVING
+        mqtt_publish_status_update(current_robot_status, robot_current_location.c_str(), robot_battery_level, current_active_task_id.c_str(), target_spot_for_move.c_str(), nullptr, 0, 0, nullptr, nullptr); // 上报MOVING状态
+        
        bool move_success = navigation_move_to_spot(target_spot_for_move.c_str(), &current_robot_status, &robot_current_location);
        
+        const char* move_cmd_ack_val = "移动到指定点"; // MOVE 指令的中文ACK值
+
        if (move_success) {
            Serial.println("移动成功，准备充电。");
-            current_robot_status = CHARGING; // 到达即充电
+            // current_robot_status 已在 navigation_move_to_spot 中被设为 CHARGING (如果它内部这么做) 
+            // 或者在这里强制设置，确保到达即充逻辑
+            current_robot_status = CHARGING; 
            robot_charge_start_time_ms = millis();
            relay_start_charging();
-            mqtt_publish_ack(current_active_task_id.c_str(), true, "Robot arrived and started charging.", current_robot_status, robot_current_location.c_str());
+            // robot_current_location 应该由 navigation_move_to_spot 更新为实际到达的spotId
+            mqtt_publish_ack(current_active_task_id.c_str(), true, "Robot arrived and started charging.", current_robot_status, robot_current_location.c_str(), move_cmd_ack_val);
        } else {
            Serial.println("移动失败或超时。");
-            // current_robot_status 已经在 navigation_move_to_spot 中被设为 FAULTED (如果超时)
-            // 如果不是超时而是其他导航错误，可能需要在这里显式设置为FAULTED
-            if(current_robot_status != FAULTED) current_robot_status = FAULTED; 
-            mqtt_publish_ack(current_active_task_id.c_str(), false, "Failed to reach target spot.", current_robot_status, robot_current_location.c_str());
+            // current_robot_status 应该已在 navigation_move_to_spot 中被设为 FAULTED
+            if(current_robot_status != FAULTED) { // 以防万一，如果导航模块未正确设置
+                 current_robot_status = FAULTED;
+                 // robot_current_location 可能还是旧的或 EN_ROUTE_TO_...
+            }
+            mqtt_publish_ack(current_active_task_id.c_str(), false, "Failed to reach target spot.", current_robot_status, robot_current_location.c_str(), move_cmd_ack_val);
        }
        target_spot_for_move = ""; // 清除移动目标
-        current_active_task_id = ""; // 清除任务ID
-        // 立即上报一次状态
-         mqtt_publish_status_update(current_robot_status, robot_current_location.c_str(), robot_battery_level, nullptr, 
-                                   nullptr, // target_spot (已到达或失败)
-                                   (current_robot_status == CHARGING) ? robot_current_location.c_str() : nullptr, // current_spot
-                                   0, // duration (刚开始充电是0)
-                                   (current_robot_status == FAULTED) ? 1 : 0, // errorCode
-                                   (current_robot_status == FAULTED) ? "Navigation failed" : nullptr // errorMessage
-                                  );
+        // current_active_task_id = ""; // 在ACK发送后清除，确保ACK能使用正确的ID。如果ACK失败，任务ID可能还需要。
+                                      // 考虑到ACK是即时发送，可以在这里清除
+        if(current_active_task_id.length() > 0 && (strcmp(current_active_task_id.c_str(), "") != 0) ) {
+             // 只有在 active_task_id 有效时才清除，避免重复清除或错误清除
+        }
+        current_active_task_id = ""; // 移动任务完成后清除
+        // 立即发布一次最终状态
+        mqtt_publish_status_update(current_robot_status, robot_current_location.c_str(), robot_battery_level, nullptr, nullptr, (current_robot_status == CHARGING || current_robot_status == COMPLETED || current_robot_status == FAULTED) ? robot_current_location.c_str() : nullptr, (current_robot_status == CHARGING) ? (millis()-robot_charge_start_time_ms)/1000 : 0, (current_robot_status == FAULTED) ? 1 : 0 /*示例错误码*/, (current_robot_status == FAULTED) ? "Navigation or other error" : nullptr, nullptr);
    }

    // --- 定期任务 ---
--- a/esp32_robot_firmware/mqtt_handler.cpp
+++ b/esp32_robot_firmware/mqtt_handler.cpp
@@ -196,22 +196,35 @@ void mqtt_publish_ack(
    bool success, 
    const char* message, 
    RobotStatus current_robot_status_at_ack, 
-    const char* ack_context_spot_id
+    const char* ack_context_spot_id,
+    const char* command_ack_chinese_value
 ) {
    if (!task_id) {
        Serial.println("无法发送ACK: taskId 为空");
        return;
    }
-    StaticJsonDocument<256> doc;
+    if (!command_ack_chinese_value) {
+        Serial.println("无法发送ACK: command_ack_chinese_value 为空");
+        // 或者根据实际情况决定是否发送一个不带 command_ack 的ACK，但后端可能不认
+        return;
+    }
+
+    StaticJsonDocument<384> doc; // 适当调整JSON文档大小
    doc["robotUid"] = DEVICE_UID;
-    doc["taskId"] = task_id;
-    doc["status"] = success ? "SUCCESS" : "FAILURE";
+    
+    // 关键修改：符合后端期望的ACK格式
+    doc["command_ack"] = command_ack_chinese_value; // 使用传入的中文描述
+    doc["task_id"] = atol(task_id); // 将 task_id (字符串) 转换为 long (数字类型)
+                                     // 注意：如果 task_id 本身就应该是数字类型传来，则更好
+                                     // 但当前task_id通常作为字符串处理，这里做转换
+                                     // 后端期望 task_id 是数字
+    doc["success"] = success; // 布尔类型
+
    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
+        doc["spotId"] = ack_context_spot_id; 
    }
-    // 根据之前的讨论，ACK中不发送errorCode字段

    String jsonBuffer;
    serializeJson(doc, jsonBuffer);
--- a/esp32_robot_firmware/mqtt_handler.h
+++ b/esp32_robot_firmware/mqtt_handler.h
@@ -37,7 +37,8 @@ void mqtt_publish_ack(
    bool success, 
    const char* message, 
    RobotStatus current_robot_status_at_ack, 
-    const char* ack_context_spot_id // 例如，MOVE_TO_SPOT完成后的spotId
+    const char* ack_context_spot_id,
+    const char* command_ack_chinese_value // 新增参数
 ); // 发布ACK消息

 // 内部状态，供其他模块查询 (可选，或者通过回调传递)