diff --git a/charging_web_app/src/app/(authenticated)/admin/mqtt-logs/page.tsx b/charging_web_app/src/app/(authenticated)/admin/mqtt-logs/page.tsx index 57520e8..4b1adb8 100644 --- 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 = {}) => { 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 = { + ...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> = await fetchMqttLogs(queryParams); + const response: BaseResponse> = 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 | SorterResult[], ) => { 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 = { + 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 /> diff --git a/esp32_robot_firmware/esp32_robot_firmware.ino b/esp32_robot_firmware/esp32_robot_firmware.ino index dc35cc1..e831cf5 100644 --- 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(), ¤t_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 --- diff --git a/esp32_robot_firmware/mqtt_handler.cpp b/esp32_robot_firmware/mqtt_handler.cpp index 6c95620..4cd73cb 100644 --- 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); diff --git a/esp32_robot_firmware/mqtt_handler.h b/esp32_robot_firmware/mqtt_handler.h index b5d3e86..88ca992 100644 --- 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)