修复充电请求流程

mqtt_esp32_client/mqtt_esp32_client.ino

@@ -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(0, "指令解析失败", false, "Command JSON invalid (missing commandType/command or taskId)");
+        publish_ack_message(taskId, false, "Command JSON invalid (missing commandType/command or taskId)", nullptr); 
         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, "移动到指定点", true, "Robot arrived at spot and started charging (simulated)");
+        publish_ack_message(taskId, true, "Robot arrived at spot and started charging (simulated)", currentSpotId.c_str()); 
         
         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, "开始充电", true, "Charging started successfully");
+        publish_ack_message(taskId, true, "Charging started successfully", currentSessionId.c_str());
         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, "停止充电", true, ("Charging stopped. Duration: " + String(chargeDuration) + "s").c_str(), currentEnergyConsumed, chargeDuration);
+        publish_ack_message(taskId, true, ("Charging stopped. Duration: " + String(chargeDuration) + "s").c_str(), previousSessionId.c_str());
         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, "未知指令", false, ("Unknown commandType: " + String(cmdType)).c_str());
+        publish_ack_message(taskId, false, ("Unknown commandType: " + String(cmdType)).c_str(), nullptr);
     }
     Serial.println("-----------------------");
 }
@@ -254,7 +254,13 @@ void publish_status_update(bool isAckOrTaskUpdate, const char* ackTaskId, const
     doc["robotUid"] = spotUid;
 
     if (isAckOrTaskUpdate) {
-        if (ackTaskId) doc["taskId"] = ackTaskId;
+        if (ackTaskId) {
+            // 关键修复：同时提供 taskId 和 activeTaskId 字段
+            // taskId 用于 robot_task 表的状态更新
+            // activeTaskId 用于 charging_session 的业务流程推进
+            doc["taskId"] = ackTaskId;
+            doc["activeTaskId"] = ackTaskId; 
+        }
         if (ackStatus) doc["status"] = ackStatus; 
         if (ackMessage) doc["message"] = ackMessage;
         // 根据用户要求，ACK中不发送errorCode
@@ -323,30 +329,18 @@ void publish_heartbeat() {
     lastHeartbeatTime = millis();
 }
 
-// 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;
+// 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; 
     }
-
-    // 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");
+    // 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 ? "COMPLETED" : "FAILED", message, nullptr, contextInfo); 
 }
 
 void setup() {