From 8d3989dff1164588d45dbb30506da1a6e1094005 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期一, 29 十二月 2025 14:27:47 +0800
Subject: [PATCH] 解决了车头朝向的问题
---
src/gecaoji/GecaojiMeg.java | 7
src/gecaoji/Device.java | 19 -
src/sendMQTT/Server.java | 112 ++++----
src/dikuai/daohangyulan.java | 13
.classpath | 26 -
src/sendMQTT/ControlCommandSender.java | 266 +++++++++++++++++++
src/sendMQTT/HTTPUtils/ControlCommand.java | 134 +++++++++
src/gecaoji/Getgecaojiimu_data.java | 3
set.properties | 32 +-
src/zhuye/Shouye.java | 189 +++++++++++++
10 files changed, 676 insertions(+), 125 deletions(-)
diff --git a/.classpath b/.classpath
index f039d23..6eb8a24 100644
--- a/.classpath
+++ b/.classpath
@@ -1,20 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<classpath>
<classpathentry kind="src" path="src"/>
- <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-11">
- <attributes>
- <attribute name="module" value="true"/>
- </attributes>
- </classpathentry>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/jackson-annotations-2.15.2.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/jackson-core-2.15.2.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/jackson-databind-2.15.2.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/jSerialComm-2.10.4.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/jts-core-1.19.0.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/lombok-1.18.36.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/MQTT-1.0-SNAPSHOT.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/org.eclipse.paho.client.mqttv3-1.2.2.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/slf4j-api-1.7.30.jar"/>
- <classpathentry kind="lib" path="D:/eclipseworkspace/GIT/GeCaoAPP/lib/slf4j-simple-1.7.30.jar"/>
+ <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/jackson-annotations-2.15.2.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/jackson-core-2.15.2.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/jackson-databind-2.15.2.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/jSerialComm-2.10.4.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/jts-core-1.19.0.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/lombok-1.18.36.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/MQTT-1.0-SNAPSHOT.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/org.eclipse.paho.client.mqttv3-1.2.2.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/slf4j-api-1.7.30.jar"/>
+ <classpathentry kind="lib" path="E:/Users/hxzk/eclipse-workspace/GeCaoAPP/lib/slf4j-simple-1.7.30.jar"/>
<classpathentry kind="output" path="bin"/>
</classpath>
diff --git a/set.properties b/set.properties
index 453134b..b6d9106 100644
--- a/set.properties
+++ b/set.properties
@@ -1,19 +1,19 @@
-#Mower Configuration Properties - Updated
-#Sun Dec 28 20:35:53 GMT+08:00 2025
+#Current work land selection updated
+#Mon Dec 29 14:26:39 CST 2025
appVersion=-1
-simCardNumber=-1
-currentWorkLandNumber=LAND1
-serialBaudRate=115200
boundaryLengthVisible=false
-idleTrailDurationSeconds=60
-handheldMarkerId=1872
-viewCenterX=-60.00
-viewCenterY=-34.94
-manualBoundaryDrawingMode=false
-mowerId=6258
-serialPortName=COM15
-serialAutoConnect=true
-mapScale=8.60
-measurementModeEnabled=false
-firmwareVersion=-1
+currentWorkLandNumber=LAND1
cuttingWidth=200
+firmwareVersion=-1
+handheldMarkerId=1872
+idleTrailDurationSeconds=60
+manualBoundaryDrawingMode=false
+mapScale=12.32
+measurementModeEnabled=false
+mowerId=6258
+serialAutoConnect=true
+serialBaudRate=115200
+serialPortName=COM15
+simCardNumber=-1
+viewCenterX=-53.78
+viewCenterY=-35.02
diff --git a/src/dikuai/daohangyulan.java b/src/dikuai/daohangyulan.java
index bf29464..3cc7dde 100644
--- a/src/dikuai/daohangyulan.java
+++ b/src/dikuai/daohangyulan.java
@@ -471,12 +471,13 @@
}
// 鍥炬爣榛樿鏈濅笅锛�270搴︼級锛岄渶瑕佽绠楁棆杞搴︿娇杞﹀ご鏈濆悜琛岄┒鏂瑰悜
- // 濡傛灉杩愬姩鏂瑰悜鍚戜笂锛�90搴︼級鈫� 闇�瑕佹棆杞�180搴︼紙270 - 90 = 180锛�
- // 濡傛灉杩愬姩鏂瑰悜鍚戝彸锛�0搴︼級鈫� 闇�瑕佹棆杞�270搴︼紙270 - 0 = 270锛�
- // 濡傛灉杩愬姩鏂瑰悜鍚戝乏锛�180搴︼級鈫� 闇�瑕佹棆杞�90搴︼紙270 - 180 = 90锛�
- // 濡傛灉杩愬姩鏂瑰悜鍚戜笅锛�270搴︼級鈫� 闇�瑕佹棆杞�0搴︼紙270 - 270 = 0锛�
- // 鍏紡锛歨eading = (270 - atan2Angle + 360) % 360
- double heading = (270.0 - atan2Angle + 360.0) % 360.0;
+ // 鍧愭爣绯伙細North(+Y) -> Screen Down(90). East(+X) -> Screen Right(0).
+ // atan2: North(90), East(0).
+ // 鐩爣锛歂orth -> Icon Down(0 rot). East -> Icon Right(270 rot).
+ // 90 -> 0.
+ // 0 -> 270.
+ // 鍏紡锛歨eading = (atan2Angle + 270) % 360
+ double heading = (atan2Angle + 270.0) % 360.0;
return heading;
}
diff --git a/src/gecaoji/Device.java b/src/gecaoji/Device.java
index bb96f57..15efd71 100644
--- a/src/gecaoji/Device.java
+++ b/src/gecaoji/Device.java
@@ -66,8 +66,6 @@
// 瀹炴椂閫熷害
private String heading;
// 鑸悜瑙�
- private String pitch;
- // 淇话瑙�
private String roll; // 妯粴瑙� 瑙掑害
private String yaw; // 鍋忚埅瑙� 瑙掑害
private String battery_level; // 鐢垫睜鐢甸噺鐧惧垎姣�
@@ -166,7 +164,6 @@
if (realtimeY != null) properties.setProperty("realtimeY", realtimeY);
if (realtimeSpeed != null) properties.setProperty("realtimeSpeed", realtimeSpeed);
if (heading != null) properties.setProperty("heading", heading);
- if (pitch != null) properties.setProperty("pitch", pitch);
if (roll != null) properties.setProperty("roll", roll);
if (yaw != null) properties.setProperty("yaw", yaw);
if (battery_level != null) properties.setProperty("battery_level", battery_level);
@@ -225,7 +222,6 @@
target.realtimeY = properties.getProperty("realtimeY", "-1");
target.realtimeSpeed = properties.getProperty("realtimeSpeed", "-1");
target.heading = properties.getProperty("heading", "-1");
- target.pitch = properties.getProperty("pitch", "-1");
target.roll = properties.getProperty("roll", "-1");
target.yaw = properties.getProperty("yaw", "-1");
target.battery_level = properties.getProperty("battery_level", "-1");
@@ -276,7 +272,6 @@
target.realtimeY = "-1";
target.realtimeSpeed = "-1";
target.heading = "-1";
- target.pitch = "-1";
target.roll = "-1";
target.yaw = "-1";
target.battery_level = "-1";
@@ -384,9 +379,6 @@
case "heading":
this.heading = value;
return true;
- case "pitch":
- this.pitch = value;
- return true;
case "roll":
this.roll = value;
return true;
@@ -547,7 +539,7 @@
satelliteCount = defaultIfEmpty(sanitizeField(fields, 7));
differentialAge = defaultIfEmpty(sanitizeField(fields, 13));
battery_level = defaultIfEmpty(sanitizeField(fields, 16));
- pitch = defaultIfEmpty(sanitizeField(fields, 17));
+ yaw = defaultIfEmpty(sanitizeField(fields, 17));
realtimeSpeed = defaultIfEmpty(sanitizeField(fields, 18));
GupdateTime = String.valueOf(System.currentTimeMillis());
}
@@ -924,14 +916,6 @@
this.heading = heading;
}
- public String getPitch() { // 鑾峰彇淇话瑙�
- return pitch;
- }
-
- public void setPitch(String pitch) { // 璁剧疆淇话瑙�
- this.pitch = pitch;
- }
-
public String getRoll() {
return roll;
}
@@ -1138,7 +1122,6 @@
", realtimeY='" + realtimeY + '\'' +
", realtimeSpeed='" + realtimeSpeed + '\'' +
", heading='" + heading + '\'' +
- ", pitch='" + pitch + '\'' +
", roll='" + roll + '\'' +
", yaw='" + yaw + '\'' +
", battery_level='" + battery_level + '\'' +
diff --git a/src/gecaoji/GecaojiMeg.java b/src/gecaoji/GecaojiMeg.java
index 589c883..802827b 100644
--- a/src/gecaoji/GecaojiMeg.java
+++ b/src/gecaoji/GecaojiMeg.java
@@ -40,7 +40,6 @@
private JLabel errorCodeLabel;
private JLabel errorMessageLabel;
private JLabel rollLabel;
- private JLabel pitchLabel;
private JLabel yawLabel;
private JLabel updateTimeLabel;
@@ -249,9 +248,6 @@
// 妯粴瑙�
addLabelRow(grid, gbc, currentRow++, "妯粴瑙掞細", rollLabel = createValueLabel(), titleFont, valueFont);
- // 淇话瑙�
- addLabelRow(grid, gbc, currentRow++, "淇话瑙掞細", pitchLabel = createValueLabel(), titleFont, valueFont);
-
// 鍋忚埅瑙�
addLabelRow(grid, gbc, currentRow++, "鍋忚埅瑙掞細", yawLabel = createValueLabel(), titleFont, valueFont);
@@ -380,7 +376,6 @@
errorCodeLabel = null;
errorMessageLabel = null;
rollLabel = null;
- pitchLabel = null;
yawLabel = null;
updateTimeLabel = null;
@@ -419,7 +414,6 @@
errorCodeLabel.setText(formatDeviceValue(device.getError_code()));
errorMessageLabel.setText(formatDeviceValue(device.getError_message()));
rollLabel.setText(formatDeviceValue(device.getRoll()));
- pitchLabel.setText(formatDeviceValue(device.getPitch()));
yawLabel.setText(formatDeviceValue(device.getYaw()));
updateTimeLabel.setText(formatTimestamp(device.getGupdateTime()));
@@ -445,7 +439,6 @@
if (errorCodeLabel != null) errorCodeLabel.setText(value);
if (errorMessageLabel != null) errorMessageLabel.setText(value);
if (rollLabel != null) rollLabel.setText(value);
- if (pitchLabel != null) pitchLabel.setText(value);
if (yawLabel != null) yawLabel.setText(value);
if (updateTimeLabel != null) updateTimeLabel.setText(value);
diff --git a/src/gecaoji/Getgecaojiimu_data.java b/src/gecaoji/Getgecaojiimu_data.java
index 97c5248..b1da2c1 100644
--- a/src/gecaoji/Getgecaojiimu_data.java
+++ b/src/gecaoji/Getgecaojiimu_data.java
@@ -9,9 +9,6 @@
return;
}
- if (status.getPitch() != null) {
- device.setPitch(String.valueOf(status.getPitch()));
- }
if (status.getRoll() != null) {
device.setRoll(String.valueOf(status.getRoll()));
}
diff --git a/src/sendMQTT/ControlCommandSender.java b/src/sendMQTT/ControlCommandSender.java
new file mode 100644
index 0000000..2961499
--- /dev/null
+++ b/src/sendMQTT/ControlCommandSender.java
@@ -0,0 +1,266 @@
+package sendMQTT;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import sendMQTT.HTTPUtils.ControlCommand;
+import set.Setsys;
+import user.Usrdell;
+
+import java.io.UnsupportedEncodingException;
+
+import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+
+/**
+ * 璁惧鎺у埗鎸囦护MQTT鍙戦�佸伐鍏风被
+ * 鐢ㄤ簬鍚戣澶囧彂閫佹帶鍒舵寚浠わ紙鍚姩銆佸仠姝€�佹殏鍋溿�佹仮澶嶃�佺揣鎬ュ仠姝㈢瓑锛�
+ */
+public class ControlCommandSender {
+
+ private static final String DEFAULT_HOST = "tcp://39.99.43.227:1883";
+ private static final String DEFAULT_CLIENT_ID_PREFIX = "control_";
+
+ private final String host;
+ private final String clientId;
+
+ /**
+ * 鏋勯�犲嚱鏁�
+ * @param host MQTT broker鍦板潃锛屼緥濡� "tcp://39.99.43.227:1883"
+ * @param clientId MQTT瀹㈡埛绔疘D
+ */
+ public ControlCommandSender(String host, String clientId) {
+ this.host = host != null ? host : DEFAULT_HOST;
+ this.clientId = clientId != null ? clientId : (DEFAULT_CLIENT_ID_PREFIX + System.currentTimeMillis());
+ }
+
+ /**
+ * 浣跨敤榛樿閰嶇疆鍒涘缓鍙戦�佸櫒
+ * @return ControlCommandSender瀹炰緥
+ */
+ public static ControlCommandSender createDefault() {
+ return new ControlCommandSender(DEFAULT_HOST, DEFAULT_CLIENT_ID_PREFIX + System.currentTimeMillis());
+ }
+
+ /**
+ * 鍙戦�佹帶鍒舵寚浠�
+ *
+ * @param msgId 娑堟伅鍞竴鏍囪瘑
+ * @param userId 鐢ㄦ埛ID
+ * @param deviceId 璁惧缂栧彿
+ * @param command 鎺у埗鍛戒护锛歴tart(鍚姩), stop(鍋滄), pause(鏆傚仠), resume(鎭㈠), emergency_stop(绱ф�ュ仠姝�)
+ * @param value1 鍙傛暟1锛堝彲閫夛紝Double绫诲瀷锛�
+ * @param value2 鍙傛暟2锛堝彲閫夛紝String绫诲瀷锛�
+ * @param value3 鍙傛暟3锛堝彲閫夛紝Integer绫诲瀷锛�
+ * @return 鏄惁鍙戦�佹垚鍔�
+ * @throws MqttException MQTT鍙戦�佸紓甯�
+ */
+ public boolean sendControlCommand(String msgId, String userId, String deviceId,
+ String command, Double value1, String value2, Integer value3)
+ throws MqttException {
+ // 鏋勫缓鍙傛暟瀵硅薄
+ ControlCommand.ControlParameters parameters = new ControlCommand.ControlParameters(
+ value1, value2, value3
+ );
+
+ // 鏋勫缓鎺у埗鎸囦护瀵硅薄
+ long timestamp = System.currentTimeMillis();
+ ControlCommand controlCommand = new ControlCommand(
+ msgId,
+ timestamp,
+ userId,
+ deviceId,
+ command,
+ parameters
+ );
+
+ // 杞崲涓篔SON瀛楃涓�
+ String jsonString = toJsonString(controlCommand);
+ if (jsonString == null) {
+ throw new MqttException(new Exception("JSON搴忓垪鍖栧け璐�"));
+ }
+
+ // 鍙戦�丮QTT娑堟伅
+ return sendMQTT(jsonString, userId, deviceId);
+ }
+
+
+
+
+
+ /**
+ * 灏咰ontrolCommand瀵硅薄杞崲涓篔SON瀛楃涓�
+ */
+ private String toJsonString(ControlCommand command) {
+ ObjectMapper objectMapper = new ObjectMapper();
+ try {
+ return objectMapper.writerWithDefaultPrettyPrinter().writeValueAsString(command);
+ } catch (JsonProcessingException e) {
+ e.printStackTrace();
+ return null;
+ }
+ }
+
+ /**
+ * 鍙戦�丮QTT娑堟伅
+ *
+ * @param messageJson JSON娑堟伅鍐呭
+ * @param userId 鐢ㄦ埛ID
+ * @param deviceId 璁惧缂栧彿
+ * @return 鏄惁鍙戦�佹垚鍔�
+ * @throws MqttException MQTT鍙戦�佸紓甯�
+ */
+ private boolean sendMQTT(String messageJson, String userId, String deviceId) throws MqttException {
+ MqttClient client = null;
+ try {
+ // 鏋勫缓涓婚锛歛pp/{user_id}/mower/{device_id}/control
+ String topic = String.format("app/%s/mower/%s/control", userId, deviceId);
+
+ // 鍒涘缓MQTT杩炴帴閫夐」
+ MqttConnectOptions options = new MqttConnectOptions();
+ options.setCleanSession(true);
+
+ // 鍒涘缓MQTT瀹㈡埛绔苟杩炴帴
+ client = new MqttClient(host, clientId);
+ client.connect(options);
+
+ // 鍒涘缓娑堟伅骞跺彂閫�
+ MqttMessage message = new MqttMessage();
+ message.setPayload(messageJson.getBytes("UTF-8"));
+ client.publish(topic, message);
+
+ return true;
+
+ } catch (UnsupportedEncodingException e) {
+ throw new MqttException(e);
+ } finally {
+ // 鏂紑杩炴帴
+ if (client != null && client.isConnected()) {
+ try {
+ client.disconnect();
+ client.close();
+ } catch (MqttException e) {
+ // 蹇界暐鏂紑杩炴帴鏃剁殑寮傚父
+ }
+ }
+ }
+ }
+
+ static String msgId = "hxzkcontrol_hxzkcontrol_20151104" ;
+ String userId=Usrdell.getUserEmail();//鐢ㄦ埛ID
+ String deviceId=Setsys.getMowerIdValue();//璁惧ID
+ private static double battery = 90.0;
+ private static String token = "abcd123ds";
+ private static int type = 0;
+ /**
+ * 鍚姩鍛戒护锛坰tart锛�
+ * 鈼忓姛鑳斤細寮�濮嬫墽琛岄璁剧殑璺緞瑙勫垝浠诲姟鎴栦粠鏆傚仠鐘舵�佺户缁繍琛�
+ * 鈼忓簲鐢ㄥ満鏅細寮�濮嬪壊鑽変綔涓氥�佺户缁鏆傚仠鐨勪换鍔�
+ *
+ * @param userId 鐢ㄦ埛ID
+ * @param deviceId 璁惧ID
+ * @return 鍙戦�佺粨鏋滐紝true琛ㄧず鎴愬姛锛宖alse琛ㄧず澶辫触
+ */
+ public static boolean sendStartCommand(String userId, String deviceId) {
+ try {
+ ControlCommandSender sender = ControlCommandSender.createDefault();
+ boolean result = sender.sendControlCommand(msgId, userId, deviceId, "start", battery, token, type);
+ return result;
+ } catch (Exception e) {
+ System.err.println("鍚姩鍛戒护鍙戦�佸け璐�: " + e.getMessage());
+ e.printStackTrace();
+ return false;
+ }
+ }
+
+ /**
+ * 鍋滄鍛戒护锛坰top锛�
+ * 鈼忓姛鑳斤細姝ｅ父鍋滄鍓茶崏鏈鸿繍琛岋紝淇濆瓨褰撳墠鐘舵��
+ * 鈼忓簲鐢ㄥ満鏅細瀹屾垚浣滀笟鍚庣殑姝ｅ父鍋滄銆佺敤鎴蜂富鍔ㄥ仠姝�
+ * 鈼忕壒鐐癸細骞崇ǔ鍑忛�熷仠姝紝璁板綍鍋滄浣嶇疆
+ *
+ * @param userId 鐢ㄦ埛ID
+ * @param deviceId 璁惧ID
+ * @return 鍙戦�佺粨鏋滐紝true琛ㄧず鎴愬姛锛宖alse琛ㄧず澶辫触
+ */
+ public static boolean sendStopCommand(String userId, String deviceId) {
+ try {
+ ControlCommandSender sender = ControlCommandSender.createDefault();
+ boolean result = sender.sendControlCommand(msgId, userId, deviceId, "stop", battery, token, type);
+ return result;
+ } catch (Exception e) {
+ System.err.println("鍋滄鍛戒护鍙戦�佸け璐�: " + e.getMessage());
+ e.printStackTrace();
+ return false;
+ }
+ }
+
+ /**
+ * 鏆傚仠鍛戒护锛坧ause锛�
+ * 鈼忓姛鑳斤細涓存椂鏆傚仠褰撳墠杩愯锛屼繚鎸佽澶囧氨缁姸鎬�
+ * 鈼忓簲鐢ㄥ満鏅細涓存椂妫�鏌ャ�侀伩璁╅殰纰嶇墿銆佺敤鎴蜂复鏃朵腑鏂�
+ * 鈼忕壒鐐癸細鍙揩閫熸仮澶嶏紝鏃犻渶閲嶆柊鍒濆鍖�
+ *
+ * @param userId 鐢ㄦ埛ID
+ * @param deviceId 璁惧ID
+ * @return 鍙戦�佺粨鏋滐紝true琛ㄧず鎴愬姛锛宖alse琛ㄧず澶辫触
+ */
+ public static boolean sendPauseCommand(String userId, String deviceId) {
+ try {
+ ControlCommandSender sender = ControlCommandSender.createDefault();
+ boolean result = sender.sendControlCommand(msgId, userId, deviceId, "pause", battery, token, type);
+
+ return result;
+ } catch (Exception e) {
+ System.err.println("鏆傚仠鍛戒护鍙戦�佸け璐�: " + e.getMessage());
+ e.printStackTrace();
+ return false;
+ }
+ }
+
+ /**
+ * 鎭㈠鍛戒护锛坮esume锛�
+ * 鈼忓姛鑳斤細浠庢殏鍋滅姸鎬佹仮澶嶄箣鍓嶇殑杩愯
+ * 鈼忓簲鐢ㄥ満鏅細鏆傚仠鍚庣户缁綔涓�
+ * 鈼忕壒鐐癸細浠庢殏鍋滅偣缁х画鎵ц锛屼繚鎸佽矾寰勮繛缁��
+ *
+ * @param userId 鐢ㄦ埛ID
+ * @param deviceId 璁惧ID
+ * @return 鍙戦�佺粨鏋滐紝true琛ㄧず鎴愬姛锛宖alse琛ㄧず澶辫触
+ */
+ public static boolean sendResumeCommand(String userId, String deviceId) {
+ try {
+ ControlCommandSender sender = ControlCommandSender.createDefault();
+ boolean result = sender.sendControlCommand(msgId, userId, deviceId, "resume", battery, token, type);
+ return result;
+ } catch (Exception e) {
+ e.printStackTrace();
+ return false;
+ }
+ }
+
+ /**
+ * 绱ф�ュ仠姝㈠懡浠わ紙emergency_stop锛�
+ * 鈼忓姛鑳斤細绔嬪嵆鍋滄鎵�鏈夊姩浣滐紝鍒囨柇鍔ㄥ姏杈撳嚭
+ * 鈼忓簲鐢ㄥ満鏅細绱ф�ユ儏鍐点�佸畨鍏ㄥ▉鑳併�佽澶囧紓甯�
+ * 鈼忕壒鐐癸細鏈�楂樹紭鍏堢骇锛岄渶瑕佹墜鍔ㄥ浣嶆墠鑳介噸鏂板惎鍔�
+ *
+ * @param userId 鐢ㄦ埛ID
+ * @param deviceId 璁惧ID
+ * @return 鍙戦�佺粨鏋滐紝true琛ㄧず鎴愬姛锛宖alse琛ㄧず澶辫触
+ */
+ public static boolean sendEmergencyStopCommand(String userId, String deviceId) {
+ try {
+ ControlCommandSender sender = ControlCommandSender.createDefault();
+ boolean result = sender.sendControlCommand(msgId, userId, deviceId, "emergency_stop", battery, token, type);
+ return result;
+ } catch (Exception e) {
+ System.err.println("绱ф�ュ仠姝㈠懡浠ゅ彂閫佸け璐�: " + e.getMessage());
+ e.printStackTrace();
+ return false;
+ }
+ }
+
+
+}
+
diff --git a/src/sendMQTT/HTTPUtils/ControlCommand.java b/src/sendMQTT/HTTPUtils/ControlCommand.java
new file mode 100644
index 0000000..7c94b85
--- /dev/null
+++ b/src/sendMQTT/HTTPUtils/ControlCommand.java
@@ -0,0 +1,134 @@
+package sendMQTT.HTTPUtils;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 璁惧鎺у埗鎸囦护JSON缁撴瀯
+ * 涓婚锛歛pp/{user_id}/mower/{device_id}/control
+ */
+
+public class ControlCommand {
+
+ @JsonProperty("msg_id")
+ private String msgId;
+
+ private long timestamp;
+
+ @JsonProperty("user_id")
+ private String userId;
+
+ @JsonProperty("device_id")
+ private String deviceId;
+
+ private String command; // start, stop, pause, resume, emergency_stop
+
+ private ControlParameters parameters;
+
+ public ControlCommand() {
+ }
+
+
+
+ public ControlCommand(String msgId, long timestamp, String userId, String deviceId,
+ String command, ControlParameters parameters) {
+ this.msgId = msgId;
+ this.timestamp = timestamp;
+ this.userId = userId;
+ this.deviceId = deviceId;
+ this.command = command;
+ this.parameters = parameters;
+ }
+
+ public String getMsgId() {
+ return msgId;
+ }
+
+ public void setMsgId(String msgId) {
+ this.msgId = msgId;
+ }
+
+ public long getTimestamp() {
+ return timestamp;
+ }
+
+ public void setTimestamp(long timestamp) {
+ this.timestamp = timestamp;
+ }
+
+ public String getUserId() {
+ return userId;
+ }
+
+ public void setUserId(String userId) {
+ this.userId = userId;
+ }
+
+ public String getDeviceId() {
+ return deviceId;
+ }
+
+ public void setDeviceId(String deviceId) {
+ this.deviceId = deviceId;
+ }
+
+ public String getCommand() {
+ return command;
+ }
+
+ public void setCommand(String command) {
+ this.command = command;
+ }
+
+ public ControlParameters getParameters() {
+ return parameters;
+ }
+
+ public void setParameters(ControlParameters parameters) {
+ this.parameters = parameters;
+ }
+
+ /**
+ * 鎺у埗鍙傛暟鍐呴儴绫�
+ */
+
+ public static class ControlParameters {
+ private Double value1;
+ private String value2;
+ private Integer value3;
+
+ public ControlParameters() {
+ }
+
+ public ControlParameters(Double value1, String value2, Integer value3) {
+ this.value1 = value1;
+ this.value2 = value2;
+ this.value3 = value3;
+ }
+
+ public Double getValue1() {
+ return value1;
+ }
+
+ public void setValue1(Double value1) {
+ this.value1 = value1;
+ }
+
+ public String getValue2() {
+ return value2;
+ }
+
+ public void setValue2(String value2) {
+ this.value2 = value2;
+ }
+
+ public Integer getValue3() {
+ return value3;
+ }
+
+ public void setValue3(Integer value3) {
+ this.value3 = value3;
+ }
+ }
+}
+
diff --git a/src/sendMQTT/Server.java b/src/sendMQTT/Server.java
index bcf26e4..c1f7471 100644
--- a/src/sendMQTT/Server.java
+++ b/src/sendMQTT/Server.java
@@ -16,66 +16,66 @@
public class Server {
- static String host="tcp://39.99.43.227:1883";
- static String clientId="1231@qq.com";
+ static String host="tcp://39.99.43.227:1883";
+ static String clientId="1231@qq.com";
- /**
- * 鑾峰彇褰撳墠绯荤粺鏃堕棿
- * @return 鏍煎紡鍖栫殑鏃堕棿瀛楃涓诧紝鏍煎紡涓� "yyyy-MM-dd HH:mm:ss"
- */
- public static String getCurrentSystemTime() {
- LocalDateTime now = LocalDateTime.now();
- DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
- return now.format(formatter);
- }
+ /**
+ * 鑾峰彇褰撳墠绯荤粺鏃堕棿
+ * @return 鏍煎紡鍖栫殑鏃堕棿瀛楃涓诧紝鏍煎紡涓� "yyyy-MM-dd HH:mm:ss"
+ */
+ public static String getCurrentSystemTime() {
+ LocalDateTime now = LocalDateTime.now();
+ DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+ return now.format(formatter);
+ }
- /**
- * 鑾峰彇褰撳墠绯荤粺鏃堕棿锛堣嚜瀹氫箟鏍煎紡锛�
- * @param pattern 鏃堕棿鏍煎紡妯″紡锛屼緥濡� "yyyy-MM-dd HH:mm:ss"銆�"yyyy/MM/dd HH:mm:ss" 绛�
- * @return 鏍煎紡鍖栫殑鏃堕棿瀛楃涓�
- */
- public static String getCurrentSystemTime(String pattern) {
- LocalDateTime now = LocalDateTime.now();
- DateTimeFormatter formatter = DateTimeFormatter.ofPattern(pattern);
- return now.format(formatter);
- }
+ /**
+ * 鑾峰彇褰撳墠绯荤粺鏃堕棿锛堣嚜瀹氫箟鏍煎紡锛�
+ * @param pattern 鏃堕棿鏍煎紡妯″紡锛屼緥濡� "yyyy-MM-dd HH:mm:ss"銆�"yyyy/MM/dd HH:mm:ss" 绛�
+ * @return 鏍煎紡鍖栫殑鏃堕棿瀛楃涓�
+ */
+ public static String getCurrentSystemTime(String pattern) {
+ LocalDateTime now = LocalDateTime.now();
+ DateTimeFormatter formatter = DateTimeFormatter.ofPattern(pattern);
+ return now.format(formatter);
+ }
-
- private static void testCode() {
- String mes_id="hxzkcontrol_20151104";//娑堟伅ID
- String userId=Usrdell.getUserEmail();//鐢ㄦ埛ID
- String deviceID=Setsys.getMowerIdValue();//璁惧ID
- String protiesFilePath="./dikuai.properties";//鍦板潡淇℃伅閰嶇疆鏂囦欢
- String json = PropertiesFileUploader.movePathSend(mes_id,userId, deviceID, protiesFilePath);//鐢熸垚缁欒澶囦笅鍙戠殑JSON
- sendMQTT(json, host, clientId,deviceID);
- }
+ /**鍙戦�佸壊鑽夎矾寰�*/
+ public static void sendMowingPath() {
+ String mes_id="hxzkcontrol_20151104";//娑堟伅ID
+ String userId=Usrdell.getUserEmail();//鐢ㄦ埛ID
+ String deviceID=Setsys.getMowerIdValue();//璁惧ID
+ String protiesFilePath="./dikuai.properties";//鍦板潡淇℃伅閰嶇疆鏂囦欢
+ String json = PropertiesFileUploader.movePathSend(mes_id,userId, deviceID, protiesFilePath);//鐢熸垚缁欒澶囦笅鍙戠殑JSON
+ sendMQTT(json, host, clientId,deviceID);
+ }
- private static void sendMQTT(String messageJson, String host, String clientId,String deviceID) {
- try {
- String topic="app/p/mower/"+deviceID+"/path";
- MqttConnectOptions options = new MqttConnectOptions();
- options.setCleanSession(true);
- MqttClient client = new MqttClient(host, clientId);
- client.connect(options);
- // 娣诲姞鍏抽棴閽╁瓙锛岀▼搴忛��鍑烘椂鍏抽棴杩炴帴
- Runtime.getRuntime().addShutdownHook(new Thread(() -> {
- try {
- if (client.isConnected()) {
- client.disconnect();
- client.close();
- }
- } catch (Exception e) {
- }
- }));
- MqttMessage message = new MqttMessage();
- message.setPayload(messageJson.getBytes("UTF-8"));
- client.publish(topic, message);
- } catch (MqttException e) {
- throw new RuntimeException(e);
- } catch (UnsupportedEncodingException e) {
- throw new RuntimeException(e);
- }
- }
+ private static void sendMQTT(String messageJson, String host, String clientId,String deviceID) {
+ try {
+ String topic="app/p/mower/"+deviceID+"/path";
+ MqttConnectOptions options = new MqttConnectOptions();
+ options.setCleanSession(true);
+ MqttClient client = new MqttClient(host, clientId);
+ client.connect(options);
+ // 娣诲姞鍏抽棴閽╁瓙锛岀▼搴忛��鍑烘椂鍏抽棴杩炴帴
+ Runtime.getRuntime().addShutdownHook(new Thread(() -> {
+ try {
+ if (client.isConnected()) {
+ client.disconnect();
+ client.close();
+ }
+ } catch (Exception e) {
+ }
+ }));
+ MqttMessage message = new MqttMessage();
+ message.setPayload(messageJson.getBytes("UTF-8"));
+ client.publish(topic, message);
+ } catch (MqttException e) {
+ throw new RuntimeException(e);
+ } catch (UnsupportedEncodingException e) {
+ throw new RuntimeException(e);
+ }
+ }
}
diff --git a/src/zhuye/Shouye.java b/src/zhuye/Shouye.java
index d8d6c82..2ba846a 100644
--- a/src/zhuye/Shouye.java
+++ b/src/zhuye/Shouye.java
@@ -9,9 +9,11 @@
import java.awt.*;
import java.awt.event.*;
+import java.awt.geom.Point2D;
import chuankou.dellmessage;
import chuankou.sendmessage;
+import chuankou.DataListener;
import chuankou.SerialPortService;
import dikuai.Dikuai;
import dikuai.Dikuaiguanli;
@@ -32,11 +34,12 @@
import java.util.Locale;
import java.util.concurrent.atomic.AtomicBoolean;
// import java.util.function.Consumer;
-import chuankou.DataListener;
-import java.awt.geom.Point2D;
-
-import publicway.Gpstoxuzuobiao;
+import sendMQTT.ControlCommandSender;
+import sendMQTT.Server;
+import user.Usrdell;
+import dikuai.Dikuaiguanli;
import publicway.Fanhuibutton;
+import publicway.Gpstoxuzuobiao;
/**
* 棣栭〉鐣岄潰 - 閫傞厤6.5瀵哥珫灞忥紝浣跨敤鐙珛鐨凪apRenderer杩涜缁樺埗
@@ -1782,6 +1785,17 @@
return;
}
+ // 妫�鏌ヨ矾寰処D鏄惁鍖归厤
+ if (!checkPathIdMatch()) {
+ startButtonShowingPause = true;
+ statusLabel.setText("寰呮満");
+ updateStartButtonAppearance();
+ return;
+ }
+
+ // 鍙戦�佸紑濮嬫寚浠�
+ sendControlCommand("start");
+
statusLabel.setText("浣滀笟涓�");
if (stopButtonActive) {
stopButtonActive = false;
@@ -1794,6 +1808,8 @@
return;
}
} else {
+ // 鍙戦�佹殏鍋滄寚浠�
+ sendControlCommand("pause");
statusLabel.setText("鏆傚仠涓�");
pauseMowingSession();
}
@@ -1801,6 +1817,169 @@
}
/**
+ * 妫�鏌ヨ矾寰処D鏄惁鍖归厤
+ * @return 濡傛灉鍖归厤杩斿洖true锛屽惁鍒欒繑鍥瀎alse
+ */
+ private boolean checkPathIdMatch() {
+ Device device = Device.getGecaoji();
+ if (device == null) {
+ showCustomMessageDialog("鏃犳硶鑾峰彇鍓茶崏鏈轰俊鎭紝璇锋鏌ヨ澶囪繛鎺�", "鎻愮ず");
+ return false;
+ }
+
+ String savedPathId = device.getPath_id_saved();
+ String currentLandNumber = Dikuaiguanli.getCurrentWorkLandNumber();
+
+ if (currentLandNumber == null) {
+ showCustomMessageDialog("璇峰厛閫夋嫨浣滀笟鍦板潡", "鎻愮ず");
+ return false;
+ }
+
+ // 濡傛灉璺緞ID涓嶅尮閰嶏紙娉ㄦ剰澶勭悊null鍜�-1鐨勬儏鍐碉級
+ boolean isMatch = savedPathId != null && savedPathId.equals(currentLandNumber);
+
+ if (!isMatch) {
+ showPathMismatchDialog(currentLandNumber);
+ return false;
+ }
+
+ return true;
+ }
+
+ /**
+ * 鏄剧ず璺緞涓嶅尮閰嶅璇濇
+ */
+ private void showPathMismatchDialog(String landNumber) {
+ Window parentWindow = SwingUtilities.getWindowAncestor(this);
+ JDialog dialog = new JDialog(parentWindow, "璺緞涓嶅尮閰�", Dialog.ModalityType.APPLICATION_MODAL);
+ dialog.setLayout(new BorderLayout(20, 20));
+ dialog.setResizable(false);
+
+ JPanel contentPanel = new JPanel(new BorderLayout(0, 15));
+ contentPanel.setBorder(BorderFactory.createEmptyBorder(20, 20, 10, 20));
+ contentPanel.setBackground(Color.WHITE);
+
+ JLabel messageLabel = new JLabel("<html><div style='text-align: center;'>褰撳墠鍓茶崏鏈鸿矾寰勪笌閫変腑鍦板潡涓嶄竴鑷�<br>鏄惁绔嬪嵆鍙戦�佸湴鍧� " + landNumber + " 鐨勮矾寰勪俊鎭紵</div></html>");
+ messageLabel.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 14));
+ messageLabel.setHorizontalAlignment(SwingConstants.CENTER);
+ contentPanel.add(messageLabel, BorderLayout.CENTER);
+
+ JPanel buttonPanel = new JPanel(new FlowLayout(FlowLayout.CENTER, 10, 0));
+ buttonPanel.setBorder(BorderFactory.createEmptyBorder(10, 0, 0, 0));
+ buttonPanel.setOpaque(false);
+
+ JButton sendButton = buttonset.createStyledButton("绔嬪嵆鍙戦��", THEME_COLOR);
+ JButton cancelButton = buttonset.createStyledButton("鍙栨秷", new Color(150, 150, 150));
+
+ sendButton.addActionListener(e -> {
+ dialog.dispose();
+ sendMowingPathAndCheck(landNumber);
+ });
+
+ cancelButton.addActionListener(e -> dialog.dispose());
+
+ buttonPanel.add(sendButton);
+ buttonPanel.add(cancelButton);
+
+ contentPanel.add(buttonPanel, BorderLayout.SOUTH);
+ dialog.add(contentPanel, BorderLayout.CENTER);
+
+ dialog.pack();
+ dialog.setLocationRelativeTo(this);
+ dialog.setVisible(true);
+ }
+
+ /**
+ * 鍙戦�佸壊鑽夎矾寰勫苟妫�鏌ョ粨鏋�
+ */
+ private void sendMowingPathAndCheck(String expectedLandNumber) {
+ // 鏄剧ず鍙戦�佷腑鎻愮ず
+ JDialog progressDialog = new JDialog(SwingUtilities.getWindowAncestor(this), "鍙戦�佷腑", Dialog.ModalityType.MODELESS);
+ progressDialog.setLayout(new BorderLayout());
+ JLabel label = new JLabel("姝ｅ湪鍙戦�佽矾寰勪俊鎭�...", SwingConstants.CENTER);
+ label.setBorder(BorderFactory.createEmptyBorder(20, 40, 20, 40));
+ progressDialog.add(label);
+ progressDialog.pack();
+ progressDialog.setLocationRelativeTo(this);
+ progressDialog.setVisible(true);
+
+ // 寮傛鍙戦��
+ new Thread(() -> {
+ try {
+ Server.sendMowingPath();
+
+ // 杞妫�鏌ヨ矾寰処D鏄惁鏇存柊
+ int maxRetries = 10; // 鏈�澶氱瓑寰�10绉�
+ boolean success = false;
+
+ for (int i = 0; i < maxRetries; i++) {
+ Thread.sleep(1000);
+ Device device = Device.getGecaoji();
+ if (device != null) {
+ // 鍒锋柊璁惧鏁版嵁
+ device.initFromProperties();
+ String currentPathId = device.getPath_id_saved();
+ if (expectedLandNumber.equals(currentPathId)) {
+ success = true;
+ break;
+ }
+ }
+ }
+
+ final boolean finalSuccess = success;
+ SwingUtilities.invokeLater(() -> {
+ progressDialog.dispose();
+ if (finalSuccess) {
+ showCustomMessageDialog("璺緞鍙戦�佹垚鍔燂紒", "鎻愮ず");
+ } else {
+ // 鍗充娇瓒呮椂涔熸彁绀哄彂閫佸畬鎴愶紝璁╃敤鎴峰啀娆″皾璇曞紑濮�
+ showCustomMessageDialog("璺緞鍙戦�佹寚浠ゅ凡鍙戝嚭锛岃绋嶅悗閲嶈瘯寮�濮嬩綔涓�", "鎻愮ず");
+ }
+ });
+
+ } catch (Exception e) {
+ SwingUtilities.invokeLater(() -> {
+ progressDialog.dispose();
+ showCustomMessageDialog("鍙戦�佸け璐�: " + e.getMessage(), "閿欒");
+ });
+ }
+ }).start();
+ }
+
+ /**
+ * 鍙戦�佹帶鍒舵寚浠�
+ * @param command start/stop/pause/resume
+ */
+ private void sendControlCommand(String command) {
+ new Thread(() -> {
+ try {
+ String userId = Usrdell.getUserEmail();
+ String deviceId = Setsys.getMowerIdValue();
+ String msgId = "hxzkcontrol_" + System.currentTimeMillis();
+
+ if (userId == null || deviceId == null) {
+ System.err.println("鏃犳硶鍙戦�佹寚浠わ細鐢ㄦ埛ID鎴栬澶嘔D涓虹┖");
+ return;
+ }
+
+ // 鐗规畩澶勭悊锛氬鏋滄槸resume鎸囦护锛堝嵆浠庢殏鍋滅姸鎬佸啀娆＄偣鍑诲紑濮嬶級
+ String finalCommand = command;
+ if ("start".equals(command) && "鏆傚仠涓�".equals(statusLabel.getText())) {
+ finalCommand = "resume";
+ }
+
+ ControlCommandSender sender = ControlCommandSender.createDefault();
+ sender.sendControlCommand(msgId, userId, deviceId, finalCommand, 0.0, "", 0);
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ SwingUtilities.invokeLater(() ->
+ showCustomMessageDialog("鎸囦护鍙戦�佸け璐�: " + e.getMessage(), "閿欒"));
+ }
+ }).start();
+ }
+
+ /**
* 妫�鏌ュ壊鑽夋満鏄惁鍦ㄥ綋鍓嶉�変腑鐨勪綔涓氬湴鍧楄竟鐣岃寖鍥村唴
* @return 濡傛灉鍓茶崏鏈哄湪杈圭晫鍐呰繑鍥瀟rue锛屽惁鍒欒繑鍥瀎alse骞舵樉绀烘彁绀�
*/
@@ -1895,6 +2074,8 @@
stopButtonActive = !stopButtonActive;
updateStopButtonIcon();
if (stopButtonActive) {
+ // 鍙戦�佸仠姝㈡寚浠�
+ sendControlCommand("stop");
statusLabel.setText("宸茬粨鏉�");
startButtonShowingPause = false;
stopMowingSession();
--
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