package mqtt import ( "encoding/json" "errors" "fmt" mqtt "github.com/eclipse/paho.mqtt.golang" "github.com/gogf/gf/v2/crypto/gmd5" "github.com/gogf/gf/v2/database/gdb" "github.com/gogf/gf/v2/frame/g" "github.com/gogf/gf/v2/os/gctx" "github.com/gogf/gf/v2/os/gtime" _ "github.com/tiger1103/gfast-cache/cache" "github.com/tiger1103/gfast/v3/api/v1/common/coryCommon" "github.com/tiger1103/gfast/v3/internal/app/system/dao" manageDeviceLogic "github.com/tiger1103/gfast/v3/internal/app/system/logic/manageDevice" manageOperationLog "github.com/tiger1103/gfast/v3/internal/app/system/logic/manageOperationLog" logic "github.com/tiger1103/gfast/v3/internal/app/system/logic/manageTaskRecord" logicManageTaskRecordResource "github.com/tiger1103/gfast/v3/internal/app/system/logic/manageTaskRecordResource" "github.com/tiger1103/gfast/v3/third/plane/dj" "github.com/tiger1103/gfast/v3/third/plane/event" "github.com/tiger1103/gfast/v3/third/plane/globe" tool "github.com/tiger1103/gfast/v3/utility/coryUtils" "golang.org/x/net/context" "log" "os" "path/filepath" "strconv" "strings" "time" ) // var ( // // DroneCoordinates = "sn:" //redisKey 无人机坐标 // RainfallStr = "air:rainfall:" //redisKey 降雨量 {"0":"无雨","1":"小雨","2":"中雨","3":"大雨"} // YunTai = "air:yuntai:" //redisKey 云台重置 // // ) var ( DroneCoordinates = "sn:" //redisKey 无人机坐标 RainfallStr = "air:rainfall:" //redisKey 降雨量 {"0":"无雨","1":"小雨","2":"中雨","3":"大雨"} YunTai = "air:yuntai:" //redisKey 云台重置 Host string Rtmp string Http string ) func init() { Host = g.Cfg().MustGet(context.Background(), "live.host").String() Rtmp = g.Cfg().MustGet(context.Background(), "live.rtmp").String() Http = g.Cfg().MustGet(context.Background(), "live.http").String() } /*从topic中获取gatewaysn*/ func GetGateWaySnFromTopic(topic string) string { split := strings.Split(topic, "/") return split[len(split)-2] } func dealOsd(client mqtt.Client, msg mqtt.Message) { //存储飞机与飞行器的数据 cory := dj.CoryAirportOrAircraft{} //解析数据 parsingOsd3(client, msg) //0、获取公共信息 pc := dj.Public{} err := json.Unmarshal(msg.Payload(), &pc) if err != nil { return } sn := strings.Split(msg.Topic(), "/")[2] key := DroneCoordinates + pc.Gateway cory.HangarSn = pc.Gateway //fmt.Println("osd上报------ ", string(msg.Payload())) //1、Gateway与sn相同代表机场，否则代表无人机信息 payload := string(msg.Payload()) if pc.Gateway == sn { cory.Airport = string(msg.Payload()) //if strings.Contains(payload, "drone_battery_maintenance_info") { //无人机电池维护信息 // dealOsd1Cory(client, cory, msg) //} else if strings.Contains(payload, "wireless_link") { //无线电路 // dealOsd2Cory(client, cory, msg) //} else if strings.Contains(payload, "network_state") { //网络状态 // dealOsd3Cory(client, cory, msg) //} else if strings.Contains(payload, "live_status") { //直播状态 // dealOsd4Cory(client, cory, msg) //} if strings.Contains(payload, "network_state") { //网络状态 dealOsd3Cory(client, cory, msg) } else { dealOsd4Cory(client, cory, msg) } } else { var entity *dj.M30tEntity json.Unmarshal(msg.Payload(), &entity) //数据不能为null，为null就不需要在执行下一步 if entity != nil { //1、获取当前飞机的坐标，然后存储到redis中 ctx := gctx.New() result := fmt.Sprintf("%v,%v,%v", entity.Data.Longitude, entity.Data.Latitude, entity.Data.Elevation) _, err := g.Redis().Set(ctx, key, result) if err != nil { fmt.Println("无人机坐标存储数据失败:", err) return } cory.Aircraft = string(msg.Payload()) cory.AircraftSn = sn //2、判断条件是否触发立即返航条件（电量） percent := entity.Data.Battery.CapacityPercent //power := entity.Data.Battery.ReturnHomePower if percent <= 70 { go Return_home(ctx, pc.Gateway) } //3、发送飞机飞行信息 start_push_cory(globe.WS_Status_map, cory) } } } // parsingOsd3 解析osd3 func parsingOsd3(client mqtt.Client, msg mqtt.Message) { payload := string(msg.Payload()) if strings.Contains(payload, "rainfall") { //解析降雨量，后续下发任务的时候判断降雨量 osd3 := dj.OSD3{} err := json.Unmarshal(msg.Payload(), &osd3) if err != nil { g.Log("uav").Error(gctx.New(), err) } g.Redis().Set(gctx.New(), RainfallStr+osd3.Gateway, osd3.Data.Rainfall) } } // func dealOsd1Cory(client mqtt.Client, info dj.CoryAirportOrAircraft, msg mqtt.Message) { // start_push_cory(globe.WS_Status_map, info) // } // // func dealOsd2Cory(client mqtt.Client, info dj.CoryAirportOrAircraft, msg mqtt.Message) { // start_push_cory(globe.WS_Status_map, info) // } func dealOsd3Cory(client mqtt.Client, info dj.CoryAirportOrAircraft, msg mqtt.Message) { osd3 := dj.OSD3{} err := json.Unmarshal(msg.Payload(), &osd3) if err != nil { return } point := dj.Point{} point.Longitude = osd3.Data.Longitude point.Latitude = osd3.Data.Latitude point.Height = osd3.Data.Height sn := GetGateWaySnFromTopic(msg.Topic()) savePosition(sn, point) //从redis中读取无人机最后一次的数据 getValue, _ := g.Redis().Get(gctx.New(), DroneCoordinates+osd3.Gateway) info.Coordinates = getValue.String() start_push_cory(globe.WS_Status_map, info) } func dealOsd4Cory(client mqtt.Client, info dj.CoryAirportOrAircraft, msg mqtt.Message) { start_push_cory(globe.WS_Status_map, info) } /*存储机场位置*/ func savePosition(gateway_sn string, point dj.Point) { manageDeviceLogic.LongitudeAndLatitudeEdit(gateway_sn, point) } // deal_events 事件 func deal_events(client2 mqtt.Client, message mqtt.Message) { pub := dj.Public{} err := json.Unmarshal(message.Payload(), &pub) if err != nil { return } var _map globe.WS_MAP switch pub.Method { case dj.OtaProgress: fmt.Println("固件升级进度：", string(message.Payload())) break case dj.Drone_open: fmt.Println("飞机开机进度") fmt.Println(string(message.Payload())) StatusReply(message) _map = globe.WS_Progress_drone_open_map wspush(message, _map) break case dj.Drone_close: StatusReply(message) fmt.Println("飞机关机进度") fmt.Println(string(message.Payload())) _map = globe.WS_Progress_drone_close_map wspush(message, _map) break case dj.Cover_open: StatusReply(message) _map = globe.WS_Progress_cover_open_map wspush(message, _map) break case dj.Cover_close: StatusReply(message) _map = globe.WS_Progress_cover_close_map wspush(message, _map) break case dj.Device_reboot: fmt.Println("设备重启进度") fmt.Println(string(message.Payload())) _map = globe.WS_Progress_device_reboot_map StatusReply(message) wspush(message, _map) break case dj.Putter_open: StatusReply(message) _map = globe.WS_Progress_putter_open_map wspush(message, _map) break case dj.Putter_close: StatusReply(message) _map = globe.WS_Progress_putter_close_map wspush(message, _map) break case dj.Flighttask_ready: //任务就绪 fmt.Println("任务就绪") fmt.Println(string(message.Payload())) break case dj.Return_home_info: //返航信息 fmt.Println("返航信息") fmt.Println(string(message.Payload())) break case dj.Flighttask_progress: //上报航线任务进度 fmt.Println("航线执行进度") go dealWaylineProgress(message) break case dj.File_upload_callback: //媒体文件上传结果上报 fmt.Println("媒体文件上传结果上报") fmt.Println(string(message.Payload())) //解析回传结果 fileUploadCallbackEntity := dj.FileUploadCallbackEntity{} if err := json.Unmarshal(message.Payload(), &fileUploadCallbackEntity); err != nil { log.Printf("媒体文件上传结果上报数据解析失败：%v", err) } //将解析的数据存储到mysql logicManageTaskRecordResource.StoresBackMediaFilesToTheDatabaseFunc(gctx.New(), &fileUploadCallbackEntity) break case dj.Fly_to_point_progress: //flyto 执行结果事件通知 fmt.Println("flyto 执行结果事件通知") fmt.Println(string(message.Payload())) break case dj.Fileupload_progress: //文件上传进度通知(远程日志) fmt.Println("文件上传进度通知(远程日志)") fmt.Println(string(message.Payload())) break } } // deal_services 事件 func deal_services(client2 mqtt.Client, message mqtt.Message) { pub := dj.Public{} err := json.Unmarshal(message.Payload(), &pub) if err != nil { return } //根据方法得到对应得数据信息 switch pub.Method { case dj.FileuploadList: //获取设备可上传的文件列表 break case dj.FileuploadStart: //发起日志文件上传 break case dj.OtaCreate: //发起日志文件上传 break } } func StatusReply(message mqtt.Message) { public := dj.Public{} err := json.Unmarshal(message.Payload(), &public) if err != nil { return } reply := dj.StatusReply{} reply.Method = public.Method reply.Tid = public.Tid reply.Bid = public.Bid reply.Timestamp = gtime.TimestampMilli() reply.Data.Result = 0 sn := GetGateWaySnFromTopic(message.Topic()) marshal, _ := json.Marshal(reply) client.Publish(dj.GetEventsReplyTopic(sn), 1, true, string(marshal)) } func dealWaylineProgress(message mqtt.Message) (err error) { waylineProgress := dj.WaylineProgress{} err = json.Unmarshal(message.Payload(), &waylineProgress) if err != nil { fmt.Println(err) return } entity := waylineProgress.Data.Output //if waylineProgress.Data.Result > 0 { // err = Geterror(waylineProgress.Data.Result) // fmt.Println(err) // return //} ctx := gctx.New() //1、根据计划ID得到最近一次飞行的航线信息，然后给当前航线填入航线ID等信息 //if strings.Contains(str, "wayline_id") { if entity.Status == "ok" || entity.Status == "paused" { gmp := g.Map{ "route_id": entity.Ext.WaylineId, "interrupt_cause": entity.Ext.BreakPoint.BreakReason, "dd_index": entity.Ext.BreakPoint.Index, "dd_state": entity.Ext.BreakPoint.State, "course_reversal": tool.MillisecondTimestamp(), "accomplish": tool.MillisecondTimestamp(), } if entity.Ext.BreakPoint.Progress > 0 { gmp["dd_progress"] = entity.Ext.BreakPoint.Progress } if entity.Ext.TrackId != "" { gmp["track_id"] = entity.Ext.TrackId } dao.ManageTaskRecord.Ctx(ctx). Where("flight_id", entity.Ext.FlightId). OrderDesc("id"). Update(gmp) } //} //2、航线为>0或者100的时候变更云台的方向 gatewaySn := GetGateWaySnFromTopic(message.Topic()) if entity.Progress.Percent >= 0 && entity.Progress.Percent < 95 { key := YunTai + gatewaySn + ":1" get, _ := g.Redis().Get(ctx, key) if !get.Bool() { sxt, _ := dealWaylineProgressSQL(ctx, gatewaySn) err, reply := Gimbal_reset(ctx, gatewaySn, sxt, 1) if err == nil && reply.Data.Result == 0 { //存放redis 每60过期秒 g.Redis().SetEX(ctx, key, true, 60) } } } g.Log("uav").Error(ctx, waylineProgress.Data.Output.Ext.FlightId+"返航进度---- "+strconv.Itoa(entity.Progress.Percent)) if entity.Progress.Percent == 100 { key := YunTai + gatewaySn + ":0" get, _ := g.Redis().Get(ctx, key) if !get.Bool() { sxt, _ := dealWaylineProgressSQL(ctx, gatewaySn) err, reply := Gimbal_reset(ctx, gatewaySn, sxt, 0) if err == nil && reply.Data.Result == 0 { //存放redis 每60秒过期 g.Redis().SetEX(ctx, key, true, 60) } if entity.Status == "ok" { //到达一百的时候变更当前航线任务的状态 dao.ManageTaskRecord.Ctx(ctx). Where("flight_id", waylineProgress.Data.Output.Ext.FlightId). WhereNull("accomplish"). Update(g.Map{"accomplish": tool.MillisecondTimestamp()}) } } } return err } func dealWaylineProgressSQL(ctx context.Context, gatewaySn string) (string, error) { sxt, err := g.DB().Model("manage_device_video").Ctx(ctx). Where("type = 1").Where("gateway_sn", gatewaySn).OrderDesc("id").Limit(1).Fields("son_sn"). Cache(gdb.CacheOption{ Duration: time.Hour, Force: false, }).Value() return sxt.String(), err } func wspush(msg mqtt.Message, _map globe.WS_MAP) { if _map != nil { start_push(_map, msg) } } func start_push(_map globe.WS_MAP, msg mqtt.Message) { globe.MutexRw.Lock() for _, socket := range _map { socket.WriteMessage(1, msg.Payload()) } globe.MutexRw.Unlock() } // cory 提供给osd使用的（用来区分机场和无人机的数据） func start_push_cory(_map globe.WS_MAP, info dj.CoryAirportOrAircraft) { globe.MutexRw.Lock() for _, socket := range _map { marshal, _ := json.Marshal(info) socket.WriteMessage(1, marshal) } globe.MutexRw.Unlock() } // deal_requests 请求 func deal_requests(client mqtt.Client, msg mqtt.Message) { pub := dj.Public{} err := json.Unmarshal(msg.Payload(), &pub) if err != nil { fmt.Println(err) return } switch pub.Method { case dj.Airport_organization_bind: //处理数据库 fmt.Println("设备绑定到组织") fmt.Println(string(msg.Payload())) break case dj.Airport_organization_get: break case dj.Flighttask_resource_get: fmt.Println("获取任务资源了") fmt.Println(string(msg.Payload())) flighttask_resource_get(client, msg) break case dj.Airport_bind_status: break case dj.Config: pb := dj.Public{} if err = json.Unmarshal(msg.Payload(), &pb); err != nil { fmt.Println(err) } reply := dj.ConfigReply{} reply.SetDefaultValue() reply.Tid = pb.Tid reply.Bid = pb.Bid marshal, err := json.Marshal(reply) if err != nil { fmt.Println(err) } topic := msg.Topic() + "_reply" fmt.Println("配置更新开始推送", topic, string(marshal)) client.Publish(topic, 1, true, string(marshal)) break case dj.Storage_config_get: pb := dj.Public{} if err = json.Unmarshal(msg.Payload(), &pb); err != nil { fmt.Println(err) } get := dj.StorageConfigGetReply{} get.SetDefaultValue() get.Tid = pb.Tid get.Bid = pb.Bid marshal, err := json.Marshal(get) if err != nil { fmt.Println(err) } topic := msg.Topic() + "_reply" fmt.Println("临时凭证开始推送", topic, string(marshal)) client.Publish(topic, 1, true, string(marshal)) break } //fmt.Println("获取数据了", string(msg.Payload())) } func deal_state(client mqtt.Client, msg mqtt.Message) { // 获取当前可执行文件所在的目录 dir, _ := os.Getwd() // 拼接文件路径 filePath := filepath.Join(dir, "output.txt") // 以追加模式打开文件，如果文件不存在则创建 file, _ := os.OpenFile(filePath, os.O_APPEND|os.O_CREATE|os.O_WRONLY, 0644) defer file.Close() // 写入内容并添加两个换行符 file.WriteString(string(msg.Payload()) + "\n\n") payload := string(msg.Payload()) fmt.Println("设备端按需上报向云平台推送的设备属性", payload) var ai *dj.AircraftInformation err := json.Unmarshal(msg.Payload(), &ai) if err != nil { return } if ai != nil { start_push(globe.WS_Status_map, msg) } if strings.Contains(payload, "live_capacity") { var lscue *LiveStreamingCapabilityUpdateEntity err := json.Unmarshal(msg.Payload(), &lscue) if err != nil { fmt.Println("《直播能力更新》数据转换失败！") } var gatewaySn = "" var mp []g.Map for i, data := range lscue.Data.LiveCapacity.DeviceList { if i == 0 { //机场 与 子设备（摄像头） for _, dataOne := range data.CameraList { count, _ := g.DB().Model("manage_device_video"). Where("gateway_sn", data.Sn). Where("device_sn", data.Sn). Where("son_sn", dataOne.CameraIndex).Count() if count == 0 { mp = append(mp, g.Map{ "type": i, "gateway_sn": data.Sn, "device_sn": data.Sn, "son_sn": dataOne.CameraIndex, }) if data.Sn != "" { gatewaySn = data.Sn } } } } if i == 1 { //飞机 与 子设备（摄像头） for _, dataOne := range data.CameraList { count, _ := g.DB().Model("manage_device_video"). Where("gateway_sn", gatewaySn). Where("device_sn", data.Sn). Where("son_sn", dataOne.CameraIndex).Count() if count == 0 && gatewaySn != "" { mp = append(mp, g.Map{ "type": i, "gateway_sn": gatewaySn, "device_sn": data.Sn, "son_sn": dataOne.CameraIndex, }) } } } } if len(mp) > 0 { g.DB().Model("manage_device_video").Insert(mp) } } } func deal_status(client mqtt.Client, msg mqtt.Message) { pub := dj.Public{} err := json.Unmarshal(msg.Payload(), &pub) if err != nil { fmt.Println(err) return } switch pub.Method { case dj.Update_topo: //cory20250605 fmt.Println("准备拓扑更新：", string(msg.Payload())) var reply dj.StatusReply reply.Timestamp = gtime.Now().TimestampMilli() reply.Bid = pub.Bid reply.Tid = pub.Tid reply.Method = "update_topo" reply.Data.Result = 0 marshal, err := json.Marshal(reply) if err != nil { return } arr := strings.Split(msg.Topic(), "/") client.Publish("sys/product/"+arr[2]+"/status_reply", 1, true, marshal) break } st := dj.Status{} json.Unmarshal(msg.Payload(), &st) var reply dj.StatusReply reply.Timestamp = st.Timestamp reply.Bid = st.Bid reply.Tid = st.Tid reply.Method = "update_topo" marshal, err := json.Marshal(reply) if err != nil { return } arr := strings.Split(msg.Topic(), "/") client.Publish("sys/product/"+arr[2]+"/status_reply", 1, true, marshal) } /*回复航线*/ func flighttask_resource_get(client mqtt.Client, msg mqtt.Message) { get := dj.FlighttaskResourcGet{} err := json.Unmarshal(msg.Payload(), &get) if err != nil { return } //get.Data.FlightId rsp := dj.FlighttaskResourcGetReply{} rsp.Tid = get.Tid rsp.Bid = get.Bid rsp.Timestamp = gtime.Now().TimestampMilli() rsp.Method = get.Method arr := strings.Split(msg.Topic(), "/") topic := dj.GetRequestsReplyTopic(arr[len(arr)-2]) f, err := logic.GetManageAirlineFile(get.Data.FlightId) if err != nil { return } rsp.Data.Result = 0 rsp.Data.Output.File.Fingerprint = f.Fingerprint rsp.Data.Output.File.Url = f.Url ReplyMsg(topic, rsp) //rsp.Gateway = get. } type File struct { Url string `json:"url"` Fingerprint string `json:"fingerprint"` } func GetResource(flight_id string) File { return File{} } //func Live_start_push(gateway_sn, devsn, camera_index string) (error, *dj.StartLiveReply) { // st := dj.StartLive{} // st.SetDefaultValue() // st.Data.UrlType = 1 // //st.Data.Url = "serverIP=116.141.0.161&serverPort=7100&serverID=22010500002000000090&agentID=22010500002000000093&agentPassword=hik13579+&localPort=7060&channel=22010500002000000093" // //st.Data.Url = "serverIP=jl.yj-3d.com&serverPort=15060&serverID=34020000002000000001&agentID=34020000001320000010&agentPassword=0000000&localPort=7060&channel=34020000001320000010" // st.Data.VideoQuality = 4 // st.Data.VideoId = devsn + "/" + camera_index + "/normal-0" // md5 := gmd5.MustEncryptString(st.Data.VideoId) // st.Data.Url = "rtmp://" + coryCommon.Global + ":9980/live/" + md5 // topic := dj.GetServiceTopic(gateway_sn) // // //marshal, _ := json.Marshal(st) // //fmt.Println("数据为：", string(marshal)) // // response := send(topic, st, st.Tid) // // sl := dj.StartLiveReply{} // err := json.Unmarshal([]byte(response), &sl) // if err != nil { // return err, nil // } // sl.Data.Url = "http://" + coryCommon.Global + ":9991/live/" + md5 + ".flv" // // return nil, &sl //} func Live_start_push(gateway_sn, devsn, camera_index string) (error, *dj.StartLiveReply) { st := dj.StartLive{} st.SetDefaultValue() st.Data.UrlType = 1 //st.Data.Url = "serverIP=116.141.0.161&serverPort=7100&serverID=22010500002000000090&agentID=22010500002000000093&agentPassword=hik13579+&localPort=7060&channel=22010500002000000093" //st.Data.Url = "serverIP=jl.yj-3d.com&serverPort=15060&serverID=34020000002000000001&agentID=34020000001320000010&agentPassword=0000000&localPort=7060&channel=34020000001320000010" st.Data.VideoQuality = 4 st.Data.VideoId = devsn + "/" + camera_index + "/normal-0" md5 := gmd5.MustEncryptString(st.Data.VideoId) st.Data.Url = "rtmp://" + Host + ":" + Rtmp + "/live/" + md5 topic := dj.GetServiceTopic(gateway_sn) //marshal, _ := json.Marshal(st) //fmt.Println("数据为：", string(marshal)) response := send(topic, st, st.Tid) sl := dj.StartLiveReply{} err := json.Unmarshal([]byte(response), &sl) if err != nil { return err, nil } sl.Data.Url = "http://" + Host + ":" + Http + "/live/" + md5 + ".live.flv" return nil, &sl } // GB28181 多路推流无效，废弃GB28181 //func Live_start_push(gateway_sn, devsn, camera_index string) (error, *dj.StartLiveReply) { // gb := "34020000002000000001" // port := strings.ReplaceAll(camera_index, "-", "") // qvr := modifyString(gb, port) // st := dj.StartLive{} // st.SetDefaultValue() // st.Data.UrlType = 3 // st.Data.VideoQuality = 4 // st.Data.VideoId = devsn + "/" + camera_index + "/normal-0" // st.Data.Url = "serverIP=119.45.210.154&serverPort=15060&serverID=" + gb + "&agentID=" + qvr + "&agentPassword=12345678&localPort=" + port + "&channel=" + qvr // fmt.Println(st.Data.Url, gateway_sn) // topic := dj.GetServiceTopic(gateway_sn) // response := send(topic, st, st.Tid) // sl := dj.StartLiveReply{} // err := json.Unmarshal([]byte(response), &sl) // if err != nil { // return err, nil // } // sl.Data.Url = "http://119.45.210.154:10000/api/v1/stream/start?serial=" + qvr + "&code=" + qvr // // return nil, &sl //} func modifyString(gb, qvr string) string { originalString := gb targetLength := len(qvr) resultString := "" // 如果原始字符串长度小于目标长度，则直接拼接 if len(originalString) < targetLength { resultString = originalString + strings.Repeat("0", targetLength-len(originalString)) + qvr } else { // 将字符串转换为字节数组 strBytes := []byte(originalString) // 修改最右边的字符 copy(strBytes[len(strBytes)-targetLength:], qvr) // 将字节数组转换回字符串 resultString = string(strBytes) } return resultString } func Live_stop_push(gateway_sn, devsn, camera_index string) (error, *dj.StopLiveReply) { st := dj.StopLive{} st.SetDefaultValue() st.Data.VideoId = devsn + "/" + camera_index + "/normal-0" topic := dj.GetServiceTopic(gateway_sn) //md5 := gmd5.MustEncryptString(st.Data.VideoId) response := send(topic, st, st.Tid) sl := dj.StopLiveReply{} err := json.Unmarshal([]byte(response), &sl) if err != nil { return err, nil } return nil, &sl } func deal_services_reply(client mqtt.Client, msg mqtt.Message) { fmt.Println("消息响应了", msg.Topic()) pub1 := dj.PublicTwo{} err := json.Unmarshal(msg.Payload(), &pub1) if err != nil { return } //根据方法得到对应得数据信息 switch pub1.Method { case dj.FileuploadList: //获取设备可上传的文件列表 fmt.Println("services_reply获取设备可上传的\t\t//获取所有日志消息上传到minio中\n\t\tvar rdata *dj.FileUpLoadListDownUp\n\t\terr := json.Unmarshal(msg.Payload(), &rdata)\n\t\tif err != nil {\n\t\t\treturn\n\t\t}\n\t\treply := dj.LogFileUploadReply{}\n\t\treply.SetDefaultValue(rdata)\n\t\tmarshal, err := json.Marshal(reply)\n\t\tif err != nil {\n\t\t\tfmt.Println(err)\n\t\t}\n\t\treplace := strings.Replace(msg.Topic(), \"_reply\", \"\", 1)\n\t\tclient.Publish(replace, 1, true, string(marshal))\n\t\tbreak文件列表==================>", string(msg.Payload())) case dj.FileuploadStart: fmt.Println("services_reply发起日志文件上传==================>", string(msg.Payload())) break case dj.DeviceFormat: fmt.Println("机场数据格式化==================>", string(msg.Payload())) break case "drone_format": fmt.Println("飞行器数据格式化==================>", string(msg.Payload())) break case dj.ReturnHome1: fmt.Println("返航： ", string(msg.Payload())) case dj.OtaCreate: fmt.Println("固件升级： ", string(msg.Payload())) } publisher, ok := eventMap[pub1.Tid] if ok { publisher.Publish(msg.Payload()) delete(eventMap, pub1.Tid) } } func ReplyMsg(topic string, dt interface{}) { marshal, err := json.Marshal(dt) if err != nil { return } fmt.Println("回复任务资源消息", topic, string(marshal)) client.Publish(topic, 1, true, string(marshal)) } func send(topic string, dt interface{}, tid string) string { marshal, err := json.Marshal(dt) if err != nil { return "" } fmt.Println("開始推送", topic, string(marshal)) client.Publish(topic, 1, true, string(marshal)) mqttResponseChan := make(chan string) timeout := time.After(15 * time.Second) // 创建一个3秒后超时的定时器 e := event.GetEvent(func(argc ...any) { /*这里的代码后执行*/ fmt.Println("响应了") delete(eventMap, tid) b := argc[0].([]byte) response := string(b) fmt.Println(response) mqttResponseChan <- response }) eventMap[tid] = e select { case response := <-mqttResponseChan: return response case <-timeout: return "" } //// 这里的代码会比前面的事件内部回调先执行，所以需 阻塞等待 MQTT 响应消息 //response := <-mqttResponseChan //return response } func Device_reboot(gateway_sn string) (error, *dj.UsualReply) { reboot := dj.Reboot{} reboot.SetDefaultValue() return send_msg(gateway_sn, reboot) } func send_msg(gateway_sn string, in interface{}) (error, *dj.UsualReply) { marshal, err := json.Marshal(in) if err != nil { return err, nil } public := dj.Public{} err = json.Unmarshal(marshal, &public) if err != nil { return err, nil } topic := dj.GetServiceTopic(gateway_sn) response := send(topic, in, public.Tid) sl := dj.UsualReply{} err = json.Unmarshal([]byte(response), &sl) if err != nil { return err, nil } return nil, &sl } func Debug_mode_open(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { debug := dj.DebugOpen{} debug.SetDefaultValue() err, reply := send_msg(gateway_sn, debug) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, debug.Method, "down", reply.Data.Result) } return err, reply } func Debug_mode_close(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { debug := dj.DebugClose{} debug.SetDefaultValue() err, reply := send_msg(gateway_sn, debug) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, debug.Method, "down", reply.Data.Result) } return err, reply } func Putter_close(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.PutterClose{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } func Putter_open(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.PutterOpen{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } func Charge_close(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.ChargeClose{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } func Charge_open(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.ChargeOpen{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } func Cover_open(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.CoverOpen{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } func Cover_close(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.CoverClose{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } func Drone_open(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { fmt.Println("飞行器开机") co := dj.DroneOpen{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } func Drone_close(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.DroneClose{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*执行任务*/ func Flighttask_execute(ctx context.Context, gateway_sn, flight_id string) (error, *dj.UsualReply) { co := dj.FlighttaskExecute{} co.SetDefaultValue() co.Data.FlightId = flight_id err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*取消任务*/ func Flighttask_undo(ctx context.Context, gateway_sn string, flight_ids []string) (error, *dj.UsualReply) { co := dj.FlighttaskUndo{} co.SetDefaultValue() co.Data.Flight_ids = flight_ids err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*航线暂停*/ func Flighttask_pause(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.FlighttaskPause{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*航线恢复*/ func Flighttask_recovery(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.FlighttaskRecovery{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*一键返航*/ func Return_home(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.ReturnHome{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*取消返航*/ func Return_home_cancel(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { co := dj.FlighttaskRecovery{} co.SetDefaultValue() err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*摄像头单拍（拍照）*/ func Camera_photo_take(ctx context.Context, gateway_sn, payload_index string) (error, *dj.UsualReply) { co := dj.CameraPhotoTake{} co.SetDefaultValue() co.Data.PayloadIndex = payload_index err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*重置云台*/ func Gimbal_reset(ctx context.Context, gateway_sn, payload_index string, reset_mode int) (error, *dj.UsualReply) { co := dj.GimbalReset{} co.SetDefaultValue() co.Data.PayloadIndex = payload_index co.Data.ResetMode = reset_mode err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*设置直播清晰度*/ func Live_set_quality(ctx context.Context, gateway_sn, two_sn, payload_index string, enum int) (error, *dj.UsualReply) { co := dj.LiveSetQuality{} co.SetDefaultValue() co.Data.VideoId = two_sn + "/" + payload_index + "/normal-0" co.Data.VideoQuality = enum err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } ///*设置直播镜头*/ //func Camera_photo_take(gateway_sn, payload_index string) (error, *dj.UsualReply) { // co := dj.CameraPhotoTake{} // co.SetDefaultValue() // co.Data.PayloadIndex = payload_index // return send_msg(gateway_sn, co) //} /*下发任务*/ func Flighttask_prepare(ctx context.Context, gateway_sn string, prepareRes *dj.FlighttaskPrepareRes) (string, int64, error, *dj.UsualReply) { get, err := g.Redis().Get(ctx, RainfallStr+gateway_sn) if err == nil && get.String() == " " { err = errors.New("无法获取降雨量") return "", 0, err, nil } else if get.Int() > 0 { err = errors.New("机舱外正在下雨，无法下发任务！") return "", 0, err, nil } co := dj.FlighttaskPrepareRes{} co.SetDefaultValueCory() data := prepareRes.Data co.Data.FlightId = data.FlightId co.Data.TaskType = data.TaskType co.Data.ExecuteTime = data.ExecuteTime co.Data.WaylineType = data.WaylineType co.Data.File = data.File co.Data.RthAltitude = data.RthAltitude co.Data.RthMode = data.RthMode co.Data.OutOfControlAction = data.OutOfControlAction co.Data.ExitWaylineWhenRcLost = data.ExitWaylineWhenRcLost //断点信息 if data.BreakPoint != nil { //断点续飞 point := dj.BreakPoint{ Index: data.BreakPoint.Index, State: data.BreakPoint.State, Progress: data.BreakPoint.Progress, WaylineId: data.BreakPoint.WaylineId, } co.Data.BreakPoint = &point } err, reply := send_msg(gateway_sn, co) tid := co.Tid bid := co.Timestamp if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return tid, bid, err, reply } /*任务资源获取*/ func Flighttask_resource_get(ctx context.Context, gateway_sn string, fileEneiey *dj.FileEntity) (error, *dj.UsualReply) { co := dj.FlighttaskResourcGetReply{} co.SetDefaultValue() co.Data.Output.File.Fingerprint = fileEneiey.Fingerprint co.Data.Output.File.Url = fileEneiey.Url err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } /*获取通用错误*/ func Geterror(code int) error { if v, ok := dj.GetErrorMap()[code]; ok { return globe.GetErrors(v.Msg) } else { //manageOperationLog.AddLog(gctx.New(), sn, method, direction, code) return globe.GetErrors("未知错误:" + strconv.Itoa(code)) } } // 结束飞向目标点 func Fly_to_point(ctx context.Context, gateway_sn string, point dj.Point) (error, *dj.UsualReply) { toPoint := dj.FlyToPoint{} toPoint.SetDefaultValue() toPoint.Data.Points = append(toPoint.Data.Points, point) toPoint.Data.MaxSpeed = 3 toPoint.Data.FlyToId = gtime.TimestampMicroStr() err, reply := send_msg(gateway_sn, toPoint) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, toPoint.Method, "down", reply.Data.Result) } return err, reply } // 结束飞向目标点 func Fly_to_point_stop(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { toPoint := dj.FlyToPointStop{} toPoint.SetDefaultValue() err, reply := send_msg(gateway_sn, toPoint) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, toPoint.Method, "down", reply.Data.Result) } return err, reply } /*飞行夺权*/ func Flight_authority_grab(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { grab := dj.FlightAuthorityGrab{} grab.SetDefaultValue() err, reply := send_msg(gateway_sn, grab) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, grab.Method, "down", reply.Data.Result) } return err, reply } // Fileupload_list 【远程日志】获取设备可上传的文件列表 func Fileupload_list(ctx context.Context, gateway_sn string, module []string) (error, *dj.UsualReply) { co := dj.FileUpLoadListDown{} co.SetDefaultValue() co.Data.ModuleList = module err, reply := send_msg(gateway_sn, co) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) } return err, reply } //// DeviceFormat 机场数据格式化 //func DeviceFormat(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { // co := dj.Public{} // co.SetDefault() // co.Method = "device_format" // err, reply := send_msg(gateway_sn, co) // if err == nil { //记录操作日志 // //manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) // } // return err, reply //} // //// DroneFormat 飞行器数据格式化 //func DroneFormat(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { // co := dj.Public{} // co.SetDefault() // co.Method = "drone_format" // err, reply := send_msg(gateway_sn, co) // if err == nil { //记录操作日志 // manageOperationLog.AddLog(ctx, gateway_sn, co.Method, "down", reply.Data.Result) // } // return err, reply //} func Speaker_tts_play_start(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { sp := dj.SpeakerTtsPlayStart{} sp.SetDefaultValue() sp.Data.Tts.Name = "111" sp.Data.Tts.Text = "111" sp.Data.Tts.Md5 = "0bfb9bceee974f41a6ddfd81521bd795" sp.Data.PsdkIndex = 2 err, reply := send_msg(gateway_sn, sp) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, sp.Method, "down", reply.Data.Result) } return err, reply } func speaker_audio_play_start(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { sp := dj.SpeakerAudioPlayStart{} sp.SetDefaultValue() sp.Data.PsdkIndex = 0 sp.Data.File.Name = "output" sp.Data.File.Url = "http://" + coryCommon.Global + ":8899/file/masterMask/coryStorageTemplate/output.pcm" sp.Data.File.Md5 = "f69050c198f3a765a56020f5470d3bdf" sp.Data.File.Format = "pcm" err, reply := send_msg(gateway_sn, sp) if err == nil { //记录操作日志 manageOperationLog.AddLog(ctx, gateway_sn, sp.Method, "down", reply.Data.Result) } return err, reply } func OtaCreateFunc(ctx context.Context, gateway_sn string) (error, *dj.UsualReply) { sp := dj.OtaCreateEntity{Data: struct { DeviceList []dj.OtaCreateDevice `json:"devices"` }{ DeviceList: []dj.OtaCreateDevice{ { FileName: "M4TD_13.01.00.07_pro.zip", FileSize: 712498, FileURL: "http://zmkg.cqet.top:8899/file/temporary/M4TD_13.01.00.07_pro.zip", FirmwareUpgradeType: 3, MD5: "acb28f172e62b38d2bfd797a522076a9", ProductVersion: "13.01.00.07", SN: "1581F8HGX253U00A0626", }, //{ // FileName: "DOCK3_13.01.00.07_pro.zip", // FileSize: 229252, // FileURL: "http://zmkg.cqet.top:8899/file/temporary/DOCK3_13.01.00.07_pro.zip", // FirmwareUpgradeType: 3, // MD5: "c217ee9a0bfc4cdfdda0a89407c504d7", // ProductVersion: "13.01.00.07", // SN: "8UUXN4P00A06NK", //}, }, }} sp.SetDefaultValue() err, reply := send_msg(gateway_sn, sp) fmt.Println("开始固件升级.......") //if err == nil { //记录操作日志dronedronedronedrddadadasdeddddd // manageOperationLog.AddLog(ctx, gateway_sn, sp.Method, "down", reply.Data.Result) //} return err, reply } //// 获取文件的md5和大小 //func aaaaa() { // // path := "C:\\Users\\MSI\\Downloads\\M4TD_13.01.00.07_pro.zip" // // 检查文件是否为ZIP格式 // if !strings.HasSuffix(strings.ToLower(path), ".zip") { // fmt.Println("错误：请提供ZIP格式的文件") // return // } // // // 获取文件大小 // fileInfo, err := os.Stat(path) // if err != nil { // fmt.Printf("无法获取文件信息: %v\n", err) // return // } // sizeKB := float64(fileInfo.Size()) / 1024.0 // fmt.Printf("ZIP文件大小: %.2f KB\n", sizeKB) // // // 计算MD5 // file, err := os.Open(path) // if err != nil { // fmt.Printf("无法打开文件: %v\n", err) // return // } // defer file.Close() // // md5Hash := md5.New() // if _, err := io.Copy(md5Hash, file); err != nil { // fmt.Printf("计算MD5失败: %v\n", err) // return // } // md5Sum := hex.EncodeToString(md5Hash.Sum(nil)) // fmt.Printf("ZIP文件MD5: %s\n", md5Sum) //}