297 lines
13 KiB
C++
297 lines
13 KiB
C++
#include <WiFi.h>
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#include <PubSubClient.h>
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#include <ArduinoJson.h> // 用于JSON操作
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// ----------- 设备配置 (需要为您自己的设备和环境修改) -----------
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// WiFi
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const char *ssid = "UFI_DB50CD"; // 请输入您的 Wi-Fi 名称
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const char *password = "1349534012"; // 请输入您的 Wi-Fi 密码
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// MQTT Broker
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const char *mqtt_broker = "broker.emqx.io"; // 您的 MQTT Broker 地址
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const char *mqtt_username = "emqx"; // 您的 MQTT 用户名 (如果需要)
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const char *mqtt_password = "public"; // 您的 MQTT 密码 (如果需要)
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const int mqtt_port = 1883; // 您的 MQTT 端口
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// 设备唯一标识符 (非常重要, 必须与后端注册的一致)
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const char *spotUid = "ESP32_SPOT_001"; // 例如: "SPOT001", "P005-A1" 等
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// ----------- MQTT 主题定义 -----------
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// 基于 application.yml 和后端服务实现
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String topic_uplink_to_backend; // 上报给后端: yupi_mqtt_power_project/robot/status/{spotUid}
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String topic_downlink_from_backend; // 从后端接收指令: yupi_mqtt_power_project/robot/command/{spotUid}
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// ----------- 全局变量 -----------
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WiFiClient espClient;
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PubSubClient client(espClient);
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// 模拟硬件状态 (实际项目中需要从传感器或硬件逻辑获取)
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const char* currentDeviceStatus = "IDLE"; // 设备当前状态: IDLE, CHARGING, FAULTED 等
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float currentVoltage = 220.0;
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float currentCurrent = 0.0;
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float currentPower = 0.0;
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float currentEnergyConsumed = 0.0;
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int currentErrorCode = 0;
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String currentSessionId = ""; // 当前充电会话ID
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// 定时发送相关
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unsigned long lastStatusUpdateTime = 0;
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unsigned long lastHeartbeatTime = 0;
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const long statusUpdateInterval = 30000; // 状态上报间隔 (例如: 30秒)
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const long heartbeatInterval = 60000; // 心跳间隔 (例如: 60秒)
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void setup_mqtt_topics() {
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String backend_status_base = "yupi_mqtt_power_project/robot/status/";
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String backend_command_base = "yupi_mqtt_power_project/robot/command/";
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topic_uplink_to_backend = backend_status_base + String(spotUid);
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topic_downlink_from_backend = backend_command_base + String(spotUid);
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Serial.println("MQTT 主题初始化完成 (匹配后端实现):");
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Serial.println(" 上行主题 (状态/心跳/ACK): " + topic_uplink_to_backend);
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Serial.println(" 下行主题 (接收指令): " + topic_downlink_from_backend);
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}
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void connect_wifi() {
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Serial.println("正在连接 Wi-Fi...");
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WiFi.begin(ssid, password);
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while (WiFi.status() != WL_CONNECTED) {
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delay(500);
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Serial.print(".");
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}
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Serial.println("\nWi-Fi 连接成功!");
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Serial.print("IP 地址: ");
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Serial.println(WiFi.localIP());
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}
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void reconnect_mqtt() {
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while (!client.connected()) {
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Serial.print("尝试连接 MQTT Broker: ");
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Serial.println(mqtt_broker);
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String client_id = "esp32-client-" + String(spotUid) + "-";
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client_id += String(WiFi.macAddress());
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Serial.printf("客户端 ID: %s \n", client_id.c_str());
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if (client.connect(client_id.c_str(), mqtt_username, mqtt_password)) {
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Serial.println("MQTT Broker 连接成功!");
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// 订阅唯一下行指令主题
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client.subscribe(topic_downlink_from_backend.c_str());
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Serial.println("已订阅指令主题: " + topic_downlink_from_backend);
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publish_status_update(false, nullptr, nullptr, nullptr, nullptr, nullptr); // 连接成功后发送一次常规状态更新
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} else {
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Serial.print("连接失败, rc=");
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Serial.print(client.state());
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Serial.println(" 2秒后重试...");
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delay(2000);
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}
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}
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}
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void callback(char *topic, byte *payload, unsigned int length) {
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Serial.println("-----------------------");
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Serial.print("消息抵达, 主题: ");
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Serial.println(topic);
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char message[length + 1];
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memcpy(message, payload, length);
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message[length] = '\0';
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Serial.print("消息内容: ");
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Serial.println(message);
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if (String(topic) != topic_downlink_from_backend) {
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Serial.println("消息非来自预期的指令主题，忽略。");
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return;
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}
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StaticJsonDocument<256> doc;
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DeserializationError error = deserializeJson(doc, message);
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if (error) {
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Serial.print("JSON 解析失败: ");
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Serial.println(error.f_str());
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return;
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}
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const char* cmdType = doc["commandType"]; // 例如: "START_CHARGE", "STOP_CHARGE"
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const char* taskId = doc["taskId"]; // 用于ACK
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if (cmdType == nullptr || taskId == nullptr) {
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Serial.println("指令JSON缺少 commandType 或 taskId 字段。");
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publish_ack_message(taskId, false, "Command JSON invalid", nullptr); // 尝试ACK错误
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return;
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}
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if (strcmp(cmdType, "MOVE_TO_SPOT") == 0) {
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Serial.println("接收到 [移动到车位] 指令");
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// const char* targetSpotUid = doc["target_spot_uid"]; // 可选: 从payload中获取目标车位ID (如果存在且需要进一步处理)
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// if (targetSpotUid) {
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// Serial.println("目标车位UID: " + String(targetSpotUid));
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// }
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// 模拟机器人移动到指定位置的动作
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Serial.println("模拟: 机器人正在移动到目标车位...");
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delay(1000); // 模拟移动耗时 (缩短演示时间)
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Serial.println("模拟: 机器人已到达目标车位。");
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publish_ack_message(taskId, true, "Robot arrived at spot (simulated)", nullptr);
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// 注意：此时设备状态 currentDeviceStatus 可以保持不变，或根据业务逻辑更新
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// 例如: currentDeviceStatus = "IDLE_AT_SPOT";
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// 如果需要，可以立即上报一次状态: publish_regular_status_update();
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} else if (strcmp(cmdType, "START_CHARGE") == 0) {
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Serial.println("接收到 [启动充电] 指令");
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currentDeviceStatus = "CHARGING";
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if (doc.containsKey("sessionId")) {
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currentSessionId = String(doc["sessionId"].as<const char*>());
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} else {
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currentSessionId = ""; //确保没有sessionId时清空
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}
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Serial.println("模拟: 充电已启动。会话ID: " + currentSessionId);
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publish_ack_message(taskId, true, "Charging started successfully", currentSessionId.c_str());
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publish_status_update(false, nullptr, nullptr, nullptr, nullptr, nullptr); // 立即更新状态
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} else if (strcmp(cmdType, "STOP_CHARGE") == 0) {
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Serial.println("接收到 [停止充电] 指令");
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currentDeviceStatus = "COMPLETED";
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Serial.println("模拟: 充电已停止。");
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String previousSessionId = currentSessionId; // 保存一下，以防ACK需要
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currentSessionId = "";
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publish_ack_message(taskId, true, "Charging stopped successfully", previousSessionId.c_str());
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publish_status_update(false, nullptr, nullptr, nullptr, nullptr, nullptr); // 立即更新状态
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}
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// Add other commandType handling here if needed, e.g., "QUERY_STATUS"
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// else if (strcmp(cmdType, "QUERY_STATUS") == 0) {
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// Serial.println("接收到 [查询状态] 指令");
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// publish_regular_status_update(); // 回复当前状态
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// publish_ack_message(taskId, true, "Status reported", nullptr);
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// }
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else {
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Serial.println("未知指令 commandType: " + String(cmdType));
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publish_ack_message(taskId, false, ("Unknown commandType: " + String(cmdType)).c_str(), nullptr);
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}
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Serial.println("-----------------------");
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}
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void publish_message(const String& topic, const JsonDocument& doc, const char* message_type) {
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String jsonBuffer;
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serializeJson(doc, jsonBuffer);
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Serial.print("发送 ");
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Serial.print(message_type);
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Serial.print(" 到主题 [");
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Serial.print(topic);
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Serial.print("]: ");
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Serial.println(jsonBuffer);
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if (client.publish(topic.c_str(), jsonBuffer.c_str())) {
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Serial.println(String(message_type) + " 发送成功");
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} else {
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Serial.println(String(message_type) + " 发送失败");
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}
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}
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// isAckOrTaskUpdate: true if this is an ACK or a task-specific update, false for general status/heartbeat
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// ackTaskId: The taskId if this is an ACK for a command. Null otherwise.
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void publish_status_update(bool isAckOrTaskUpdate, const char* ackTaskId, const char* ackStatus, const char* ackMessage, const char* ackErrorCode, const char* ackSessionId) {
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StaticJsonDocument<512> doc;
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doc["robotUid"] = spotUid;
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if (isAckOrTaskUpdate) {
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if (ackTaskId) doc["taskId"] = ackTaskId;
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if (ackStatus) doc["status"] = ackStatus; // e.g., "SUCCESS", "FAILURE" or task-specific status
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if (ackMessage) doc["message"] = ackMessage;
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if (ackErrorCode) doc["errorCode"] = ackErrorCode;
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// actualRobotStatus should still be sent to reflect current state after ACK
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doc["actualRobotStatus"] = currentDeviceStatus;
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if (ackSessionId && strlen(ackSessionId) > 0) doc["activeTaskId"] = ackSessionId; // Assuming activeTaskId can hold sessionId for context in ACKs
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// Or, if RobotStatusMessage is extended for sessionId in future.
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// For now, activeTaskId might be a way to correlate, or it might be ignored by backend for ACKs.
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} else { // General status update / heartbeat
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doc["actualRobotStatus"] = currentDeviceStatus;
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doc["voltage"] = currentVoltage; // Example: Add these if backend expects them with general status
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doc["current"] = currentCurrent;
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doc["power"] = currentPower;
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doc["energyConsumed"] = currentEnergyConsumed;
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doc["errorCode"] = currentErrorCode; // General device error code
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if (currentSessionId.length() > 0) {
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// For general status, if a session is active, it might be relevant as activeTaskId
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// This depends on how backend interprets activeTaskId outside of specific task ACKs.
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doc["activeTaskId"] = currentSessionId; // Or a more generic field if RobotStatusMessage evolves
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}
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}
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// Common fields (timestamp can be added by backend or here if NTP is used)
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// doc["timestamp"] = String(millis()); // Already using millis()
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publish_message(topic_uplink_to_backend, doc, isAckOrTaskUpdate ? "ACK/TaskUpdate" : "StatusUpdate");
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if (!isAckOrTaskUpdate) { // Only update lastStatusUpdateTime for general status updates, not for ACKs triggered by commands
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lastStatusUpdateTime = millis();
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}
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}
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void publish_regular_status_update() {
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// This is a wrapper for general periodic status updates
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publish_status_update(false, nullptr, nullptr, nullptr, nullptr, nullptr);
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}
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void publish_heartbeat() {
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StaticJsonDocument<256> doc; // Heartbeat can be simpler
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doc["robotUid"] = spotUid;
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doc["actualRobotStatus"] = currentDeviceStatus; // Heartbeat includes current status
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// Optionally, add a specific "messageType": "HEARTBEAT" if backend needs explicit differentiation
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// beyond just a minimal status update. For now, relying on RobotStatusMessage structure.
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publish_message(topic_uplink_to_backend, doc, "Heartbeat");
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lastHeartbeatTime = millis();
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}
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// Simplified ACK message function
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void publish_ack_message(const char* taskId, bool success, const char* message, const char* sessionIdForAckContext) {
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if (!taskId || strlen(taskId) == 0) {
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Serial.println("无法发送ACK: taskId 为空");
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// Potentially send a general error status if appropriate, but usually ACK needs a taskId
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return;
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}
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// Use the main publish_status_update function formatted as an ACK
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publish_status_update(true, taskId, success ? "SUCCESS" : "FAILURE", message, success ? "0" : "GENERAL_ERROR_ON_ACK", sessionIdForAckContext);
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}
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void setup() {
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Serial.begin(115200);
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Serial.println("\nESP32 充电桩模拟客户端启动...");
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setup_mqtt_topics(); // 初始化MQTT主题
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connect_wifi(); // 连接Wi-Fi
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client.setServer(mqtt_broker, mqtt_port);
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client.setCallback(callback); // 设置消息回调函数
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}
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void loop() {
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if (!client.connected()) {
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reconnect_mqtt();
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}
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client.loop();
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unsigned long currentTime = millis();
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if (currentTime - lastStatusUpdateTime > statusUpdateInterval) {
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publish_regular_status_update(); // Use the new wrapper
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}
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if (currentTime - lastHeartbeatTime > heartbeatInterval) {
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publish_heartbeat(); // Uses the new heartbeat logic
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}
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// 模拟充电过程中的电量和功率变化 (仅为演示)
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if (String(currentDeviceStatus) == "CHARGING") {
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currentEnergyConsumed += 0.01; // 假设每秒消耗0.01kWh (不精确，仅为演示)
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currentCurrent = 5.0; // 假设充电电流5A
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currentPower = (currentVoltage * currentCurrent) / 1000.0; // kW
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// 注意：实际项目中这些值应来自传感器或充电控制器
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// 这里为了演示，每隔一段时间简单更新一下
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} else {
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currentCurrent = 0.0;
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currentPower = 0.0;
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}
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delay(100); // 短暂延时，避免loop过于频繁，给其他任务一点时间 (可选)
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}
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