package sendMQTT;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import sendMQTT.HTTPUtils.ControlCommand;
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import set.Setsys;
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import user.Usrdell;
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import java.io.UnsupportedEncodingException;
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import org.eclipse.paho.client.mqttv3.MqttClient;
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import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
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import org.eclipse.paho.client.mqttv3.MqttException;
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import org.eclipse.paho.client.mqttv3.MqttMessage;
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/**
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* 设备控制指令MQTT发送工具类
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* 用于向设备发送控制指令（启动、停止、暂停、恢复、紧急停止等）
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*/
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public class ControlCommandSender {
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private static final String DEFAULT_HOST = "tcp://39.99.43.227:1883";
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private static final String DEFAULT_CLIENT_ID_PREFIX = "control_";
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private final String host;
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private final String clientId;
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/**
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* 构造函数
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* @param host MQTT broker地址，例如 "tcp://39.99.43.227:1883"
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* @param clientId MQTT客户端ID
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*/
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public ControlCommandSender(String host, String clientId) {
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this.host = host != null ? host : DEFAULT_HOST;
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this.clientId = clientId != null ? clientId : (DEFAULT_CLIENT_ID_PREFIX + System.currentTimeMillis());
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}
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/**
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* 使用默认配置创建发送器
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* @return ControlCommandSender实例
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*/
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public static ControlCommandSender createDefault() {
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return new ControlCommandSender(DEFAULT_HOST, DEFAULT_CLIENT_ID_PREFIX + System.currentTimeMillis());
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}
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/**
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* 发送控制指令
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*
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* @param msgId 消息唯一标识
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* @param userId 用户ID
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* @param deviceId 设备编号
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* @param command 控制命令：start(启动), stop(停止), pause(暂停), resume(恢复), emergency_stop(紧急停止)
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* @param value1 参数1（可选，Double类型）
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* @param value2 参数2（可选，String类型）
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* @param value3 参数3（可选，Integer类型）
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* @return 是否发送成功
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* @throws MqttException MQTT发送异常
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*/
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public boolean sendControlCommand(String msgId, String userId, String deviceId,
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String command, Double value1, String value2, Integer value3)
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throws MqttException {
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// 构建参数对象
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ControlCommand.ControlParameters parameters = new ControlCommand.ControlParameters(
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value1, value2, value3
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);
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// 构建控制指令对象
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long timestamp = System.currentTimeMillis();
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ControlCommand controlCommand = new ControlCommand(
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msgId,
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timestamp,
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userId,
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deviceId,
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command,
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parameters
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);
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// 转换为JSON字符串
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String jsonString = toJsonString(controlCommand);
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if (jsonString == null) {
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throw new MqttException(new Exception("JSON序列化失败"));
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}
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// 发送MQTT消息
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return sendMQTT(jsonString, userId, deviceId);
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}
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/**
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* 将ControlCommand对象转换为JSON字符串
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*/
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private String toJsonString(ControlCommand command) {
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ObjectMapper objectMapper = new ObjectMapper();
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try {
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return objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(command);
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} catch (JsonProcessingException e) {
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e.printStackTrace();
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return null;
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}
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}
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/**
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* 发送MQTT消息
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*
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* @param messageJson JSON消息内容
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* @param userId 用户ID
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* @param deviceId 设备编号
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* @return 是否发送成功
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* @throws MqttException MQTT发送异常
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*/
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private boolean sendMQTT(String messageJson, String userId, String deviceId) throws MqttException {
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MqttClient client = null;
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try {
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// 构建主题：app/{user_id}/mower/{device_id}/control
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String topic = String.format("app/%s/mower/%s/control", userId, deviceId);
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// 创建MQTT连接选项
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MqttConnectOptions options = new MqttConnectOptions();
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options.setCleanSession(true);
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// 创建MQTT客户端并连接
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client = new MqttClient(host, clientId);
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client.connect(options);
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// 创建消息并发送
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MqttMessage message = new MqttMessage();
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message.setPayload(messageJson.getBytes("UTF-8"));
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client.publish(topic, message);
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return true;
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} catch (UnsupportedEncodingException e) {
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throw new MqttException(e);
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} finally {
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// 断开连接
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if (client != null && client.isConnected()) {
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try {
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client.disconnect();
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client.close();
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} catch (MqttException e) {
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// 忽略断开连接时的异常
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}
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}
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}
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}
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static String msgId = "hxzkcontrol_hxzkcontrol_20151104" ;
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String userId=Usrdell.getUserEmail();//用户ID
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String deviceId=Setsys.getMowerIdValue();//设备ID
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private static double battery = 90.0;
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private static String token = "abcd123ds";
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private static int type = 0;
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/**
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* 启动命令（start）
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* ●功能：开始执行预设的路径规划任务或从暂停状态继续运行
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* ●应用场景：开始割草作业、继续被暂停的任务
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*
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* @param userId 用户ID
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* @param deviceId 设备ID
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* @return 发送结果，true表示成功，false表示失败
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*/
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public static boolean sendStartCommand(String userId, String deviceId) {
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try {
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ControlCommandSender sender = ControlCommandSender.createDefault();
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boolean result = sender.sendControlCommand(msgId, userId, deviceId, "start", battery, token, type);
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return result;
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} catch (Exception e) {
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System.err.println("启动命令发送失败: " + e.getMessage());
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e.printStackTrace();
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return false;
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}
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}
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/**
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* 停止命令（stop）
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* ●功能：正常停止割草机运行，保存当前状态
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* ●应用场景：完成作业后的正常停止、用户主动停止
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* ●特点：平稳减速停止，记录停止位置
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*
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* @param userId 用户ID
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* @param deviceId 设备ID
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* @return 发送结果，true表示成功，false表示失败
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*/
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public static boolean sendStopCommand(String userId, String deviceId) {
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try {
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ControlCommandSender sender = ControlCommandSender.createDefault();
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boolean result = sender.sendControlCommand(msgId, userId, deviceId, "stop", battery, token, type);
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return result;
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} catch (Exception e) {
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System.err.println("停止命令发送失败: " + e.getMessage());
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e.printStackTrace();
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return false;
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}
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}
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/**
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* 暂停命令（pause）
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* ●功能：临时暂停当前运行，保持设备就绪状态
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* ●应用场景：临时检查、避让障碍物、用户临时中断
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* ●特点：可快速恢复，无需重新初始化
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*
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* @param userId 用户ID
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* @param deviceId 设备ID
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* @return 发送结果，true表示成功，false表示失败
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*/
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public static boolean sendPauseCommand(String userId, String deviceId) {
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try {
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ControlCommandSender sender = ControlCommandSender.createDefault();
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boolean result = sender.sendControlCommand(msgId, userId, deviceId, "pause", battery, token, type);
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return result;
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} catch (Exception e) {
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System.err.println("暂停命令发送失败: " + e.getMessage());
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e.printStackTrace();
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return false;
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}
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}
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/**
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* 恢复命令（resume）
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* ●功能：从暂停状态恢复之前的运行
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* ●应用场景：暂停后继续作业
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* ●特点：从暂停点继续执行，保持路径连续性
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*
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* @param userId 用户ID
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* @param deviceId 设备ID
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* @return 发送结果，true表示成功，false表示失败
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*/
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public static boolean sendResumeCommand(String userId, String deviceId) {
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try {
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ControlCommandSender sender = ControlCommandSender.createDefault();
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boolean result = sender.sendControlCommand(msgId, userId, deviceId, "resume", battery, token, type);
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return result;
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} catch (Exception e) {
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e.printStackTrace();
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return false;
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}
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}
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/**
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* 紧急停止命令（emergency_stop）
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* ●功能：立即停止所有动作，切断动力输出
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* ●应用场景：紧急情况、安全威胁、设备异常
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* ●特点：最高优先级，需要手动复位才能重新启动
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*
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* @param userId 用户ID
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* @param deviceId 设备ID
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* @return 发送结果，true表示成功，false表示失败
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*/
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public static boolean sendEmergencyStopCommand(String userId, String deviceId) {
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try {
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ControlCommandSender sender = ControlCommandSender.createDefault();
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boolean result = sender.sendControlCommand(msgId, userId, deviceId, "emergency_stop", battery, token, type);
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return result;
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} catch (Exception e) {
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System.err.println("紧急停止命令发送失败: " + e.getMessage());
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e.printStackTrace();
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return false;
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}
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}
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}
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