176 lines
9.9 KiB
C++
176 lines
9.9 KiB
C++
#include "config.h"
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#include "mqtt_handler.h"
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#include "motor_control.h"
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#include "sensor_handler.h"
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#include "navigation.h"
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#include "relay_control.h"
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// ----------- 全局状态变量 -----------
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RobotStatus current_robot_status = IDLE;
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String robot_current_location = "BASE_STATION"; // 初始位置
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int robot_battery_level = 95; // 初始电量
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unsigned long robot_charge_start_time_ms = 0; // 充电开始时间戳
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String current_active_task_id = ""; // 当前执行的后端任务ID
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String target_spot_for_move = ""; // MOVE指令的目标车位
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// 定时器相关
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unsigned long last_status_publish_time = 0;
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unsigned long last_heartbeat_time = 0; // 心跳可以使用简化的状态更新
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unsigned long last_battery_sim_time = 0;
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// --- MQTT 指令回调函数 ---
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void handle_mqtt_command(const char* commandType, const char* taskId, const char* targetSpotId) {
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Serial.print("主程序收到指令回调: commandType="); Serial.print(commandType);
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Serial.print(", taskId="); Serial.print(taskId);
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if (targetSpotId) { Serial.print(", targetSpotId="); Serial.print(targetSpotId); }
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Serial.println();
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current_active_task_id = String(taskId);
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if (strcmp(commandType, "MOVE") == 0 || strcmp(commandType, "MOVE_TO_SPOT") == 0) {
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if (targetSpotId && strlen(targetSpotId) > 0) {
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if (current_robot_status == IDLE || current_robot_status == COMPLETED || current_robot_status == FAULTED) {
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Serial.print("指令有效: 准备移动到 "); Serial.println(targetSpotId);
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target_spot_for_move = String(targetSpotId);
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// 状态将在navigation_move_to_spot开始时变为MOVING
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// navigation_move_to_spot会阻塞，直到完成、失败或超时
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} else {
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Serial.println("指令无效: 机器人当前不处于可接收MOVE指令的状态。");
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mqtt_publish_ack(taskId, false, "Robot busy or not in correct state for MOVE", current_robot_status, nullptr);
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current_active_task_id = "";
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}
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} else {
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Serial.println("指令错误: MOVE 指令缺少 targetSpotId/target_spot_uid。");
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mqtt_publish_ack(taskId, false, "MOVE command missing target spot ID", current_robot_status, nullptr);
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current_active_task_id = "";
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}
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} else if (strcmp(commandType, "STOP_CHARGE") == 0) {
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if (current_robot_status == CHARGING) {
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Serial.println("指令有效: 停止充电。");
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current_robot_status = COMPLETED; // 立即改变状态
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relay_stop_charging();
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unsigned long charge_duration = (robot_charge_start_time_ms > 0) ? (millis() - robot_charge_start_time_ms) / 1000 : 0;
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robot_charge_start_time_ms = 0;
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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
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mqtt_publish_ack(taskId, true, ("Charging stopped. Duration: " + String(charge_duration) + "s").c_str(), current_robot_status, robot_current_location.c_str());
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// 立即发布一次状态更新
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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);
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} else {
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Serial.println("指令无效: 机器人未在充电状态。");
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mqtt_publish_ack(taskId, false, "Robot not in CHARGING state for STOP_CHARGE", current_robot_status, nullptr);
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}
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current_active_task_id = ""; // STOP_CHARGE任务通常是瞬时完成
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} else if (strcmp(commandType, "START_CHARGE") == 0) { // 保留旧指令处理的ACK，但业务上已忽略
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Serial.println("收到 START_CHARGE 指令，但业务逻辑为到达即充，仅ACK。");
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mqtt_publish_ack(taskId, true, "START_CHARGE acknowledged (auto-charge on arrival)", current_robot_status, robot_current_location.c_str());
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current_active_task_id = "";
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} else {
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Serial.print("未知指令类型: "); Serial.println(commandType);
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mqtt_publish_ack(taskId, false, "Unknown command type", current_robot_status, nullptr);
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current_active_task_id = "";
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}
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}
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void simulate_battery_update(){
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if (current_robot_status == CHARGING) {
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if (robot_battery_level < 100) robot_battery_level += 1;
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else robot_battery_level = 100;
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} else if (current_robot_status == MOVING) {
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if (robot_battery_level > 5) robot_battery_level -=2;
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else robot_battery_level = 5;
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} else { // IDLE, COMPLETED, FAULTED - very slow drain or none
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// if (robot_battery_level > 1) robot_battery_level -=1; // Optional very slow drain
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}
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}
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void setup() {
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Serial.begin(115200);
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Serial.println("\nESP32 真实机器人固件启动中...");
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motor_setup();
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sensor_setup();
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relay_setup();
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navigation_setup(); // 初始化导航状态和计数器
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mqtt_setup(handle_mqtt_command); // 设置MQTT并传入指令回调
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Serial.println("所有模块初始化完成。");
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// 初始上报一次状态
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mqtt_publish_status_update(current_robot_status, robot_current_location.c_str(), robot_battery_level, nullptr, nullptr, nullptr, 0, 0, nullptr);
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last_status_publish_time = millis();
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last_heartbeat_time = millis();
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last_battery_sim_time = millis();
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}
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void loop() {
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mqtt_loop(); // 处理MQTT连接和消息
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unsigned long current_time = millis();
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// --- 状态机和任务处理 ---
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if (target_spot_for_move.length() > 0 && (current_robot_status == IDLE || current_robot_status == COMPLETED || current_robot_status == FAULTED) ) {
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Serial.print("开始执行移动任务到: "); Serial.println(target_spot_for_move);
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bool move_success = navigation_move_to_spot(target_spot_for_move.c_str(), ¤t_robot_status, &robot_current_location);
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if (move_success) {
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Serial.println("移动成功，准备充电。");
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current_robot_status = CHARGING; // 到达即充电
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robot_charge_start_time_ms = millis();
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relay_start_charging();
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mqtt_publish_ack(current_active_task_id.c_str(), true, "Robot arrived and started charging.", current_robot_status, robot_current_location.c_str());
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} else {
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Serial.println("移动失败或超时。");
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// current_robot_status 已经在 navigation_move_to_spot 中被设为 FAULTED (如果超时)
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// 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
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if(current_robot_status != FAULTED) current_robot_status = FAULTED;
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mqtt_publish_ack(current_active_task_id.c_str(), false, "Failed to reach target spot.", current_robot_status, robot_current_location.c_str());
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}
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target_spot_for_move = ""; // 清除移动目标
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current_active_task_id = ""; // 清除任务ID
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// 立即上报一次状态
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mqtt_publish_status_update(current_robot_status, robot_current_location.c_str(), robot_battery_level, nullptr,
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nullptr, // target_spot (已到达或失败)
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(current_robot_status == CHARGING) ? robot_current_location.c_str() : nullptr, // current_spot
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0, // duration (刚开始充电是0)
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(current_robot_status == FAULTED) ? 1 : 0, // errorCode
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(current_robot_status == FAULTED) ? "Navigation failed" : nullptr // errorMessage
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);
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}
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// --- 定期任务 ---
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// 状态上报
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if (current_time - last_status_publish_time > STATUS_UPDATE_INTERVAL_MS) {
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unsigned long charge_duration = 0;
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if (current_robot_status == CHARGING && robot_charge_start_time_ms > 0) {
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charge_duration = (millis() - robot_charge_start_time_ms) / 1000;
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}
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mqtt_publish_status_update(current_robot_status, robot_current_location.c_str(), robot_battery_level,
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nullptr, // current_active_task_id (常规状态不上报任务ID)
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nullptr, // target_spot (常规状态下无)
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(current_robot_status == CHARGING || current_robot_status == COMPLETED) ? robot_current_location.c_str() : nullptr, // current_spot
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charge_duration,
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(current_robot_status == FAULTED) ? 1 : 0, // errorCode for FAULTED state
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(current_robot_status == FAULTED) ? "General fault" : nullptr // errorMessage for FAULTED
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);
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last_status_publish_time = current_time;
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}
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// 心跳 (可以是一个简化的状态更新，或者特定心跳消息)
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// 为简单起见，这里的心跳就是一次常规状态更新，如果上面刚发过，则跳过
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if (current_time - last_heartbeat_time > HEARTBEAT_INTERVAL_MS && (current_time - last_status_publish_time > 1000) /*避免过于频繁*/) {
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// 重用上面的状态上报逻辑，或发送更简洁的心跳包
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// mqtt_publish_status_update(...) with minimal fields for heartbeat
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Serial.println("发送心跳 (通过常规状态更新)...");
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// (与上面状态上报逻辑相同，所以如果时间接近，可以省略以减少冗余)
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// 这里我们确保它至少比状态上报稀疏一点，或者如果状态刚上报就不发
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last_heartbeat_time = current_time;
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}
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// 电池模拟更新
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if (current_time - last_battery_sim_time > BATTERY_UPDATE_INTERVAL_MS) {
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simulate_battery_update();
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last_battery_sim_time = current_time;
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// 注意：电池电量变化后，下一次常规状态上报时会发送更新后的值
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}
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delay(10); // 主循环延时，给ESP32其他核心任务一些时间
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}
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