From c9b1d33979b3972fe6a82fa427b4ba9a20989112 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期三, 24 十二月 2025 18:56:28 +0800
Subject: [PATCH] 新增mqtt相关功能
---
src/gecaoji/Device.java | 217 +++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 182 insertions(+), 35 deletions(-)
diff --git a/src/gecaoji/Device.java b/src/gecaoji/Device.java
index 9e26eff..9d1a1c3 100644
--- a/src/gecaoji/Device.java
+++ b/src/gecaoji/Device.java
@@ -68,21 +68,30 @@
// 鑸悜瑙�
private String pitch;
// 淇话瑙�
- private String battery;
- // 瀹炴椂鐢甸噺
+ 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�
+ private String battery_voltage; // 鐢垫睜鐢靛帇
+ private String operation_mode; // 鎿嶄綔妯″紡锛歮anual, auto, emergency_stop
+ private String motor_status; // 鐢垫満鐘舵�侊細stopped, running, error
+ private String blade_status; // 鍒�鐗囩姸鎬侊細stopped, rotating
+ private String path_id_saved; // 瀛樺偍鐨勮矾寰処D
+ private String error_code; // 閿欒浠ｇ爜
+ private String error_message; // 閿欒淇℃伅
+
private String positioningStatus;
// 瀹氫綅鐘舵��
private String satelliteCount;
// 鍗槦鍙暟
private String differentialAge;
// 宸垎鏃堕棿
- private String selfCheckStatus = "-1";
+ private String self_check_status = "-1"; // 鏂板鑷鐘舵�侊細1-瀹屾垚锛�0-鏈畬鎴�
// 鍓茶崏鏈鸿嚜妫�鐘舵��
private String mowerStartStatus = "-1";
// 鍓茶崏鏈哄惎鍔ㄧ姸鎬侊細1寮�鍚紝0鐔勭伀锛�-1鏈煡
private String mowerLightStatus = "-1";
// 鍓茶崏鏈虹伅寮�鍏崇姸鎬侊細1寮�鍚紝0鍏抽棴锛�-1鏈煡
- private String mowerBladeHeight = "-1";
+ private String blade_height = "-1"; // 鍒�鐩橀珮搴� 鍘樼背
// 鍓茶崏鏈哄垁鐩橀珮搴︼細-1鏈煡
private String mowerWidth;
// 鍓茶崏鏈哄搴︼紝鍗曚綅绫�
@@ -154,14 +163,24 @@
if (realtimeSpeed != null) properties.setProperty("realtimeSpeed", realtimeSpeed);
if (heading != null) properties.setProperty("heading", heading);
if (pitch != null) properties.setProperty("pitch", pitch);
- if (battery != null) properties.setProperty("battery", battery);
+ if (roll != null) properties.setProperty("roll", roll);
+ if (yaw != null) properties.setProperty("yaw", yaw);
+ if (battery_level != null) properties.setProperty("battery_level", battery_level);
+ if (battery_voltage != null) properties.setProperty("battery_voltage", battery_voltage);
+ if (operation_mode != null) properties.setProperty("operation_mode", operation_mode);
+ if (motor_status != null) properties.setProperty("motor_status", motor_status);
+ if (blade_status != null) properties.setProperty("blade_status", blade_status);
+ if (path_id_saved != null) properties.setProperty("path_id_saved", path_id_saved);
+ if (error_code != null) properties.setProperty("error_code", error_code);
+ if (error_message != null) properties.setProperty("error_message", error_message);
+
if (positioningStatus != null) properties.setProperty("positioningStatus", positioningStatus);
if (satelliteCount != null) properties.setProperty("satelliteCount", satelliteCount);
if (differentialAge != null) properties.setProperty("differentialAge", differentialAge);
- if (selfCheckStatus != null) properties.setProperty("selfCheckStatus", selfCheckStatus);
+ if (self_check_status != null) properties.setProperty("self_check_status", self_check_status);
if (mowerStartStatus != null) properties.setProperty("mowerStartStatus", mowerStartStatus);
if (mowerLightStatus != null) properties.setProperty("mowerLightStatus", mowerLightStatus);
- if (mowerBladeHeight != null) properties.setProperty("mowerBladeHeight", mowerBladeHeight);
+ if (blade_height != null) properties.setProperty("blade_height", blade_height);
if (mowerWidth != null) properties.setProperty("mowerWidth", mowerWidth);
if (mowerLength != null) properties.setProperty("mowerLength", mowerLength);
if (mowingSafetyDistance != null) properties.setProperty("mowingSafetyDistance", mowingSafetyDistance);
@@ -200,14 +219,24 @@
target.realtimeSpeed = properties.getProperty("realtimeSpeed", "-1");
target.heading = properties.getProperty("heading", "-1");
target.pitch = properties.getProperty("pitch", "-1");
- target.battery = properties.getProperty("battery", "-1");
+ target.roll = properties.getProperty("roll", "-1");
+ target.yaw = properties.getProperty("yaw", "-1");
+ target.battery_level = properties.getProperty("battery_level", "-1");
+ target.battery_voltage = properties.getProperty("battery_voltage", "-1");
+ target.operation_mode = properties.getProperty("operation_mode", "-1");
+ target.motor_status = properties.getProperty("motor_status", "-1");
+ target.blade_status = properties.getProperty("blade_status", "-1");
+ target.path_id_saved = properties.getProperty("path_id_saved", "-1");
+ target.error_code = properties.getProperty("error_code", "-1");
+ target.error_message = properties.getProperty("error_message", "-1");
+
target.positioningStatus = properties.getProperty("positioningStatus", "-1");
target.satelliteCount = properties.getProperty("satelliteCount", "-1");
target.differentialAge = properties.getProperty("differentialAge", "-1");
- target.selfCheckStatus = properties.getProperty("selfCheckStatus", "-1");
+ target.self_check_status = properties.getProperty("self_check_status", "-1");
target.mowerStartStatus = properties.getProperty("mowerStartStatus", "-1");
target.mowerLightStatus = properties.getProperty("mowerLightStatus", "-1");
- target.mowerBladeHeight = properties.getProperty("mowerBladeHeight", "-1");
+ target.blade_height = properties.getProperty("blade_height", "-1");
target.mowerWidth = properties.getProperty("mowerWidth", "-1");
target.mowerLength = properties.getProperty("mowerLength", "-1");
target.mowingSafetyDistance = properties.getProperty("mowingSafetyDistance", "-1");
@@ -238,14 +267,24 @@
target.realtimeSpeed = "-1";
target.heading = "-1";
target.pitch = "-1";
- target.battery = "-1";
+ target.roll = "-1";
+ target.yaw = "-1";
+ target.battery_level = "-1";
+ target.battery_voltage = "-1";
+ target.operation_mode = "-1";
+ target.motor_status = "-1";
+ target.blade_status = "-1";
+ target.path_id_saved = "-1";
+ target.error_code = "-1";
+ target.error_message = "-1";
+
target.positioningStatus = "-1";
target.satelliteCount = "-1";
target.differentialAge = "-1";
- target.selfCheckStatus = "-1";
+ target.self_check_status = "-1";
target.mowerStartStatus = "-1";
target.mowerLightStatus = "-1";
- target.mowerBladeHeight = "-1";
+ target.blade_height = "-1";
target.mowerWidth = "-1";
target.mowerLength = "-1";
target.mowingSafetyDistance = "-1";
@@ -335,8 +374,35 @@
case "pitch":
this.pitch = value;
return true;
- case "battery":
- this.battery = value;
+ case "roll":
+ this.roll = value;
+ return true;
+ case "yaw":
+ this.yaw = value;
+ return true;
+ case "battery_level":
+ this.battery_level = value;
+ return true;
+ case "battery_voltage":
+ this.battery_voltage = value;
+ return true;
+ case "operation_mode":
+ this.operation_mode = value;
+ return true;
+ case "motor_status":
+ this.motor_status = value;
+ return true;
+ case "blade_status":
+ this.blade_status = value;
+ return true;
+ case "path_id_saved":
+ this.path_id_saved = value;
+ return true;
+ case "error_code":
+ this.error_code = value;
+ return true;
+ case "error_message":
+ this.error_message = value;
return true;
case "positioningStatus":
this.positioningStatus = value;
@@ -347,8 +413,8 @@
case "differentialAge":
this.differentialAge = value;
return true;
- case "selfCheckStatus":
- this.selfCheckStatus = value;
+ case "self_check_status":
+ this.self_check_status = value;
return true;
case "mowerStartStatus":
this.mowerStartStatus = value;
@@ -356,8 +422,8 @@
case "mowerLightStatus":
this.mowerLightStatus = value;
return true;
- case "mowerBladeHeight":
- this.mowerBladeHeight = value;
+ case "blade_height":
+ this.blade_height = value;
return true;
case "mowerWidth":
this.mowerWidth = value;
@@ -458,7 +524,7 @@
}
satelliteCount = defaultIfEmpty(sanitizeField(fields, 7));
differentialAge = defaultIfEmpty(sanitizeField(fields, 13));
- battery = defaultIfEmpty(sanitizeField(fields, 16));
+ battery_level = defaultIfEmpty(sanitizeField(fields, 16));
pitch = defaultIfEmpty(sanitizeField(fields, 17));
realtimeSpeed = defaultIfEmpty(sanitizeField(fields, 18));
GupdateTime = String.valueOf(System.currentTimeMillis());
@@ -844,12 +910,84 @@
this.pitch = pitch;
}
- public String getBattery() { // 鑾峰彇瀹炴椂鐢甸噺
- return battery;
+ public String getRoll() {
+ return roll;
}
- public void setBattery(String battery) { // 璁剧疆瀹炴椂鐢甸噺
- this.battery = battery;
+ public void setRoll(String roll) {
+ this.roll = roll;
+ }
+
+ public String getYaw() {
+ return yaw;
+ }
+
+ public void setYaw(String yaw) {
+ this.yaw = yaw;
+ }
+
+ public String getBattery_level() {
+ return battery_level;
+ }
+
+ public void setBattery_level(String battery_level) {
+ this.battery_level = battery_level;
+ }
+
+ public String getBattery_voltage() {
+ return battery_voltage;
+ }
+
+ public void setBattery_voltage(String battery_voltage) {
+ this.battery_voltage = battery_voltage;
+ }
+
+ public String getOperation_mode() {
+ return operation_mode;
+ }
+
+ public void setOperation_mode(String operation_mode) {
+ this.operation_mode = operation_mode;
+ }
+
+ public String getMotor_status() {
+ return motor_status;
+ }
+
+ public void setMotor_status(String motor_status) {
+ this.motor_status = motor_status;
+ }
+
+ public String getBlade_status() {
+ return blade_status;
+ }
+
+ public void setBlade_status(String blade_status) {
+ this.blade_status = blade_status;
+ }
+
+ public String getPath_id_saved() {
+ return path_id_saved;
+ }
+
+ public void setPath_id_saved(String path_id_saved) {
+ this.path_id_saved = path_id_saved;
+ }
+
+ public String getError_code() {
+ return error_code;
+ }
+
+ public void setError_code(String error_code) {
+ this.error_code = error_code;
+ }
+
+ public String getError_message() {
+ return error_message;
+ }
+
+ public void setError_message(String error_message) {
+ this.error_message = error_message;
}
public String getPositioningStatus() { // 鑾峰彇瀹氫綅鐘舵��
@@ -876,12 +1014,12 @@
this.differentialAge = differentialAge;
}
- public String getSelfCheckStatus() { // 鑾峰彇鑷鐘舵��
- return selfCheckStatus;
+ public String getSelf_check_status() { // 鑾峰彇鑷鐘舵��
+ return self_check_status;
}
- public void setSelfCheckStatus(String selfCheckStatus) { // 璁剧疆鑷鐘舵��
- this.selfCheckStatus = selfCheckStatus;
+ public void setSelf_check_status(String self_check_status) { // 璁剧疆鑷鐘舵��
+ this.self_check_status = self_check_status;
}
public String getMowerStartStatus() { // 鑾峰彇鍓茶崏鏈哄惎鍔ㄧ姸鎬�
@@ -900,12 +1038,12 @@
this.mowerLightStatus = mowerLightStatus;
}
- public String getMowerBladeHeight() { // 鑾峰彇鍓茶崏鏈哄垁鐩橀珮搴�
- return mowerBladeHeight;
+ public String getBlade_height() { // 鑾峰彇鍓茶崏鏈哄垁鐩橀珮搴�
+ return blade_height;
}
- public void setMowerBladeHeight(String mowerBladeHeight) { // 璁剧疆鍓茶崏鏈哄垁鐩橀珮搴�
- this.mowerBladeHeight = mowerBladeHeight;
+ public void setBlade_height(String blade_height) { // 璁剧疆鍓茶崏鏈哄垁鐩橀珮搴�
+ this.blade_height = blade_height;
}
public String getMowerWidth() { // 鑾峰彇鍓茶崏鏈哄搴�
@@ -955,14 +1093,23 @@
", realtimeSpeed='" + realtimeSpeed + '\'' +
", heading='" + heading + '\'' +
", pitch='" + pitch + '\'' +
- ", battery='" + battery + '\'' +
+ ", roll='" + roll + '\'' +
+ ", yaw='" + yaw + '\'' +
+ ", battery_level='" + battery_level + '\'' +
+ ", battery_voltage='" + battery_voltage + '\'' +
+ ", operation_mode='" + operation_mode + '\'' +
+ ", motor_status='" + motor_status + '\'' +
+ ", blade_status='" + blade_status + '\'' +
+ ", path_id_saved='" + path_id_saved + '\'' +
+ ", error_code='" + error_code + '\'' +
+ ", error_message='" + error_message + '\'' +
", positioningStatus='" + positioningStatus + '\'' +
", satelliteCount='" + satelliteCount + '\'' +
", differentialAge='" + differentialAge + '\'' +
- ", selfCheckStatus='" + selfCheckStatus + '\'' +
+ ", self_check_status='" + self_check_status + '\'' +
", mowerStartStatus='" + mowerStartStatus + '\'' +
", mowerLightStatus='" + mowerLightStatus + '\'' +
- ", mowerBladeHeight='" + mowerBladeHeight + '\'' +
+ ", blade_height='" + blade_height + '\'' +
", mowerWidth='" + mowerWidth + '\'' +
", mowerLength='" + mowerLength + '\'' +
", mowingSafetyDistance='" + mowingSafetyDistance + '\'' +
--
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