233 lines
7.9 KiB
C++
233 lines
7.9 KiB
C++
#include "mqtt_handler.h"
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#include "config.h" // 确保config.h被包含以获取定义
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#include <WiFi.h>
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// ----------- 全局MQTT相关变量 -----------
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WiFiClient espClient;
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PubSubClient mqttClient(espClient);
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CommandCallback global_command_callback = nullptr;
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// 主题字符串
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String topic_uplink_to_backend;
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String topic_downlink_from_backend;
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// 将RobotStatus枚举转换为字符串 (与后端DTO的actualRobotStatus对应)
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const char* robotStatusToString(RobotStatus status) {
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switch (status) {
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case IDLE: return "IDLE";
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case MOVING: return "MOVING";
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case CHARGING: return "CHARGING";
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case COMPLETED: return "COMPLETED";
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case FAULTED: return "FAULTED"; // 或 "ERROR"
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default: return "UNKNOWN";
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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.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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// 可以在这里发送一个格式错误的ACK，但通常不建议对无法解析的taskId发ACK
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return;
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}
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const char* cmdType = nullptr;
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if (doc.containsKey("commandType")) {
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cmdType = doc["commandType"];
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} else if (doc.containsKey("command")) {
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cmdType = doc["command"];
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}
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const char* taskId = doc["taskId"];
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if (cmdType == nullptr || taskId == nullptr) {
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Serial.println("指令JSON缺少 commandType/command 或 taskId 字段。");
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// 尝试发送ACK，即使taskId可能为null，但通常最好有taskId
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mqtt_publish_ack(taskId, false, "Command JSON invalid (missing commandType/command or taskId)", IDLE /*随便给个状态*/, nullptr);
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return;
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}
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const char* targetSpot = nullptr;
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if (doc.containsKey("spotId")) {
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targetSpot = doc["spotId"].as<const char*>();
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} else if (doc.containsKey("target_spot_uid")) {
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targetSpot = doc["target_spot_uid"].as<const char*>();
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}
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Serial.printf("解析到指令: Type=%s, TaskID=%s, TargetSpot=%s\n", cmdType, taskId, targetSpot ? targetSpot : "N/A");
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if (global_command_callback) {
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global_command_callback(cmdType, taskId, targetSpot);
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} else {
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Serial.println("错误: 指令回调函数未设置!");
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}
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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(WIFI_SSID, WIFI_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 (!mqttClient.connected()) {
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Serial.print("尝试连接 MQTT Broker: ");
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Serial.println(MQTT_BROKER_HOST);
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String clientId = "esp32-robot-" + String(DEVICE_UID) + "-" + String(random(0xffff), HEX);
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Serial.printf("客户端 ID: %s \n", clientId.c_str());
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if (mqttClient.connect(clientId.c_str(), MQTT_USERNAME, MQTT_PASSWORD)) {
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Serial.println("MQTT Broker 连接成功!");
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mqttClient.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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// 连接成功后可以发送一次初始状态，但这通常由主逻辑决定
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} else {
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Serial.print("连接失败, rc=");
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Serial.print(mqttClient.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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// ----------- Public Functions -----------
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void mqtt_setup(CommandCallback cmd_callback) {
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global_command_callback = cmd_callback;
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// 构建主题字符串
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String base_topic_path = MQTT_TOPIC_BASE;
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topic_uplink_to_backend = base_topic_path + "/status/" + String(DEVICE_UID);
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topic_downlink_from_backend = base_topic_path + "/command/" + String(DEVICE_UID);
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Serial.println("MQTT 主题初始化完成:");
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Serial.println(" 上行主题: " + topic_uplink_to_backend);
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Serial.println(" 下行主题: " + topic_downlink_from_backend);
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connect_wifi();
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mqttClient.setServer(MQTT_BROKER_HOST, MQTT_BROKER_PORT);
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mqttClient.setCallback(callback);
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}
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void mqtt_loop() {
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if (!mqttClient.connected()) {
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reconnect_mqtt();
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}
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mqttClient.loop();
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}
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void mqtt_publish_status_update(
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RobotStatus current_status,
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const char* location,
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int battery_level,
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const char* current_task_id, // 这个字段在我们的状态消息中通常不直接用，但保留参数以备将来
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const char* target_spot,
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const char* current_spot,
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unsigned long charge_duration_seconds,
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int error_code,
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const char* error_message
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) {
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StaticJsonDocument<512> doc;
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doc["robotUid"] = DEVICE_UID;
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doc["actualRobotStatus"] = robotStatusToString(current_status);
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if (location) doc["location"] = location;
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doc["battery"] = battery_level;
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// 根据状态添加特定字段
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switch (current_status) {
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case MOVING:
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if (target_spot) doc["targetSpot"] = target_spot;
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break;
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case CHARGING:
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if (current_spot) doc["spotId"] = current_spot;
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doc["durationSeconds"] = charge_duration_seconds;
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break;
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case COMPLETED:
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if (current_spot) doc["spotId"] = current_spot;
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// totalDurationSeconds 通常在特定完成事件的ACK中上报更准确
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break;
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case FAULTED:
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doc["errorCode"] = error_code; // 仅在FAULTED状态下发送错误码
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if (error_message) doc["message"] = error_message;
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break;
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default:
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break;
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}
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// 注意：移除了常规状态更新中的errorCode，除非状态是FAULTED
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String jsonBuffer;
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serializeJson(doc, jsonBuffer);
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Serial.print("发送 StatusUpdate 到主题 [");
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Serial.print(topic_uplink_to_backend);
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Serial.print("]: ");
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Serial.println(jsonBuffer);
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if (mqttClient.publish(topic_uplink_to_backend.c_str(), jsonBuffer.c_str())) {
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Serial.println("StatusUpdate 发送成功");
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} else {
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Serial.println("StatusUpdate 发送失败");
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}
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}
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void mqtt_publish_ack(
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const char* task_id,
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bool success,
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const char* message,
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RobotStatus current_robot_status_at_ack,
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const char* ack_context_spot_id
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) {
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if (!task_id) {
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Serial.println("无法发送ACK: taskId 为空");
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return;
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}
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StaticJsonDocument<256> doc;
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doc["robotUid"] = DEVICE_UID;
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doc["taskId"] = task_id;
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doc["status"] = success ? "SUCCESS" : "FAILURE";
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if (message) doc["message"] = message;
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doc["actualRobotStatus"] = robotStatusToString(current_robot_status_at_ack);
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if (ack_context_spot_id) {
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doc["spotId"] = ack_context_spot_id; // 在ACK上下文中关联spotId
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}
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// 根据之前的讨论，ACK中不发送errorCode字段
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String jsonBuffer;
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serializeJson(doc, jsonBuffer);
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Serial.print("发送 ACK/TaskUpdate 到主题 [");
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Serial.print(topic_uplink_to_backend);
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Serial.print("]: ");
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Serial.println(jsonBuffer);
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if (mqttClient.publish(topic_uplink_to_backend.c_str(), jsonBuffer.c_str())) {
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Serial.println("ACK/TaskUpdate 发送成功");
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} else {
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Serial.println("ACK/TaskUpdate 发送失败");
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}
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}
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// 这个函数可以移除或重新设计，因为状态现在由主逻辑管理并通过参数传递给 publish 函数
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// RobotStatus mqtt_get_current_robot_status_commanded() {
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// return IDLE; // Placeholder
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// }
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