改用自建emqx

mqtt_esp32_client/mqtt_esp32_client.ino

@@ -4,11 +4,11 @@
 
 // ----------- 设备配置 (需要为您自己的设备和环境修改) -----------
 // WiFi
-const char *ssid = "UFI_DB50CD"; // 请输入您的 Wi-Fi 名称
-const char *password = "1349534012";  // 请输入您的 Wi-Fi 密码
+const char *ssid = "WEIHANG3718"; // 请输入您的 Wi-Fi 名称
+const char *password = "@05Tu146";  // 请输入您的 Wi-Fi 密码
 
 // MQTT Broker
-const char *mqtt_broker = "broker.emqx.io"; // 您的 MQTT Broker 地址
+const char *mqtt_broker = "yuyun-hk1.stormrain.cn"; // 您的 MQTT Broker 地址
 const char *mqtt_username = "emqx";         // 您的 MQTT 用户名 (如果需要)
 const char *mqtt_password = "public";     // 您的 MQTT 密码 (如果需要)
 const int mqtt_port = 1883;                 // 您的 MQTT 端口
@@ -130,7 +130,7 @@ void callback(char *topic, byte *payload, unsigned int length) {
 
     if (cmdType == nullptr || taskId == nullptr) {
         Serial.println("指令JSON缺少 commandType/command 或 taskId 字段。");
-        publish_ack_message(taskId, false, "Command JSON invalid (missing commandType/command or taskId)", nullptr); 
+        publish_ack_message(0, "指令解析失败", false, "Command JSON invalid (missing commandType/command or taskId)");
         return;
     }
 
@@ -170,7 +170,7 @@ void callback(char *topic, byte *payload, unsigned int length) {
         chargeStartTimeMillis = millis(); 
         Serial.println("状态更新: CHARGING (已到达目标车位 " + currentSpotId + "，视为开始充电)");
         
-        publish_ack_message(taskId, true, "Robot arrived at spot and started charging (simulated)", currentSpotId.c_str()); 
+        publish_ack_message(taskId, "移动到指定点", true, "Robot arrived at spot and started charging (simulated)");
         
         publish_status_update(false, nullptr, nullptr, nullptr, nullptr, nullptr);
 
@@ -196,7 +196,7 @@ void callback(char *topic, byte *payload, unsigned int length) {
             currentSessionId = ""; 
         }
         Serial.println("模拟: 充电已启动。会话ID: " + currentSessionId + ", 车位: " + currentSpotId);
-        publish_ack_message(taskId, true, "Charging started successfully", currentSessionId.c_str());
+        publish_ack_message(taskId, "开始充电", true, "Charging started successfully");
         publish_status_update(false, nullptr, nullptr, nullptr, nullptr, nullptr); 
 
     } else if (strcmp(cmdType, "STOP_CHARGE") == 0) {
@@ -214,7 +214,7 @@ void callback(char *topic, byte *payload, unsigned int length) {
         currentSessionId = ""; 
         // 在ACK中上报准确的充电时长，如果需要的话，可以通过修改 publish_ack_message 或在 message 字段中添加
         // For now, the generic ACK is sent.
-        publish_ack_message(taskId, true, ("Charging stopped. Duration: " + String(chargeDuration) + "s").c_str(), previousSessionId.c_str());
+        publish_ack_message(taskId, "停止充电", true, ("Charging stopped. Duration: " + String(chargeDuration) + "s").c_str(), currentEnergyConsumed, chargeDuration);
         publish_status_update(false, nullptr, nullptr, nullptr, nullptr, nullptr); 
     }
     // Add other commandType handling here if needed, e.g., "QUERY_STATUS"
@@ -225,7 +225,7 @@ void callback(char *topic, byte *payload, unsigned int length) {
     // }
      else {
         Serial.println("未知指令 commandType: " + String(cmdType));
-        publish_ack_message(taskId, false, ("Unknown commandType: " + String(cmdType)).c_str(), nullptr);
+        publish_ack_message(taskId, "未知指令", false, ("Unknown commandType: " + String(cmdType)).c_str());
     }
     Serial.println("-----------------------");
 }
@@ -323,18 +323,30 @@ void publish_heartbeat() {
     lastHeartbeatTime = millis();
 }
 
-// Simplified ACK message function
-void publish_ack_message(const char* taskId, bool success, const char* message, const char* contextInfo) {
-    if (!taskId || strlen(taskId) == 0) {
-        Serial.println("无法发送ACK: taskId 为空");
-        return; 
+// 新增ACK消息发布函数，以符合后端期望的格式
+void publish_ack_message(long taskId, const char* commandAckStr, bool success, const char* message, float energyKwh = -1.0f, int durationSeconds = -1) {
+    StaticJsonDocument<256> doc; // 调整大小以适应所有字段
+
+    doc["robotUid"] = spotUid;
+    doc["command_ack"] = commandAckStr; // 指令的中文描述
+    doc["task_id"] = taskId;            // 任务ID (数字类型)
+    doc["success"] = success;           // 成功状态 (布尔类型)
+
+    if (message && strlen(message) > 0) {
+        doc["message"] = message;
     }
-    // Use the main publish_status_update function formatted as an ACK
-    // For contextInfo, we can pass spotId if relevant, or sessionId if that's what backend expects for ACKs.
-    // The 'true' indicates it's an ACK.
-    // The ackErrorCode field in publish_status_update will be set to "SUCCESS_ACK" or "FAILURE_ACK"
-    // 根据用户要求，ACK中的errorCode也暂时简化或移除。如果保留，确保含义清晰。
-    publish_status_update(true, taskId, success ? "SUCCESS" : "FAILURE", message, nullptr, contextInfo); 
+
+    // 针对 STOP_CHARGE 指令的额外字段
+    if (strcmp(commandAckStr, "停止充电") == 0) {
+        if (energyKwh >= 0) {
+            doc["energy_kwh"] = energyKwh;
+        }
+        if (durationSeconds >= 0) {
+            doc["duration_s"] = durationSeconds;
+        }
+    }
+
+    publish_message(topic_uplink_to_backend, doc, "ACK");
 }
 
 void setup() {