198 lines
6.2 KiB
Go
198 lines
6.2 KiB
Go
package mqtt
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import (
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"context"
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"fmt"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/gogf/gf/v2/frame/g"
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"github.com/gogf/gf/v2/os/gctx"
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"github.com/gogf/gf/v2/os/gtimer"
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"github.com/tiger1103/gfast/v3/third/plane/dj"
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"github.com/tiger1103/gfast/v3/third/plane/event"
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"strings"
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"time"
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)
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var timer *gtimer.Timer
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var client mqtt.Client
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var eventMap map[string]*event.EventPublisher
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const (
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osd = "osd" //设备端定频向云平台推送的设备属性（properties）， 具体内容范围参见物模型内容
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state = "state" //设备端按需上报向云平台推送的设备属性（properties）， 具体内容范围参见物模型内容
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services_reply = "services_reply" //设备对 service 的回复、处理结果
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events = "events" //设备端向云平台发送的，需要关注和处理的事件。 比如SD满了，飞机解禁禁飞区等信息（事件范围参见物模型内容）
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status = "status" //设备上下线、更新拓扑
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set_reply = "set_reply" //设备属性设置的响应
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requests = "requests" //设备端向云平台发送请求，为了获取一些信息，比如上传的临时凭证
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services = "services" //云平台向设备发送的服务（具体service identifier 见物模型内容）。
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)
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var MsgCallBackMap map[string]CB
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func InitMQTT() {
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eventMap = make(map[string]*event.EventPublisher)
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timer = gtimer.New()
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initMsgs()
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dj.InitError()
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connect()
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}
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func initMsgs() {
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MsgCallBackMap = make(map[string]CB)
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msgs := []CB{
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{osd, dealOsd, nil},
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{state, deal_state, nil},
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{requests, deal_requests, nil},
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{services_reply, deal_services_reply, nil},
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{status, deal_status, nil},
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{events, deal_events, nil},
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{services, deal_services, nil},
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}
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for _, msg := range msgs {
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MsgCallBackMap[msg.Flag] = msg
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}
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}
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type CB struct {
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Flag string
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Recv func(mqtt.Client, mqtt.Message) //接收消息
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Reply func(mqtt.Client, mqtt.Message) //回复消息
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}
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func connect() {
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host := g.Cfg().MustGet(gctx.New(), "mqtt.host").String()
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port := g.Cfg().MustGet(gctx.New(), "mqtt.port").String()
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username := g.Cfg().MustGet(gctx.New(), "mqtt.username").String()
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password := g.Cfg().MustGet(gctx.New(), "mqtt.password").String()
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clientid := g.Cfg().MustGet(gctx.New(), "mqtt.clientid").String()
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topics := g.Cfg().MustGet(gctx.New(), "mqtt.topics").String()
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fmt.Println(host, port, username, password, clientid, topics, "tcp://"+host+":"+port)
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opts := mqtt.NewClientOptions()
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opts.AddBroker("tcp://" + host + ":" + port) // 设置MQTT代理服务器地址
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opts.SetClientID(clientid) // 设置客户端ID
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opts.SetPassword(password) // 设置客户端ID
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opts.SetUsername(username) // 设置客户端ID
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// 处理消息接收
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opts.SetDefaultPublishHandler(receiveHandler)
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opts.SetConnectionLostHandler(disconnected)
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opts.SetOnConnectHandler(connected)
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opts.SetKeepAlive(1000 * time.Second) //超时等待，防止客户端掉线
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opts.SetAutoReconnect(true)
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client = mqtt.NewClient(opts)
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// 连接MQTT代理服务器
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if token := client.Connect(); token.Wait() && token.Error() != nil {
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panic(token.Error())
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}
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arr := strings.Split(topics, ",")
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for _, topic := range arr {
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// 订阅主题
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fmt.Println("订阅主题", topic)
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if token := client.Subscribe(topic, 0, nil); token.Wait() && token.Error() != nil {
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fmt.Println(token.Error())
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}
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//fmt.Println(topic)
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}
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//ctx := gctx.New()
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////格式化
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//DeviceFormat(ctx, "4SEDL9C001X8GE")
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//DroneFormat(ctx, "4SEDL9C001X8GE")
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//DeviceFormat(ctx, "7CTDM4100BG7HV")
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//DroneFormat(ctx, "7CTDM4100BG7HV")
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//飞机升级
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//OtaCreateFunc(ctx, "8UUXN4P00A06NK")
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//gtimer.SetTimeout(gctx.New(), 2*time.Second, func(ctx context.Context) {
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//sn := "4SEDL9C001X8GE"
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//err, d := speaker_audio_play_start(sn)
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//if err != nil {
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// fmt.Println(err)
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// return
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//}
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//整一个pcm的音频文件
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// point := dj.Point{}
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// point.Longitude = 106.541923087
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// point.Latitude = 23.458531397
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// point.Height = 823.8873291015625 + 10
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// //err, d := Flight_authority_grab(sn)
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// //if err != nil {
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// // return
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// //}
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// err, d := Fly_to_point(sn, point)
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//fmt.Println(d)
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// fmt.Println(err)
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//
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// sn = "4TADL210010014" //中煤广西机库的sn
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// //// //sn = "4TADL2E001002D" //机库的sn
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// //// //sn = "1581F5BMD2323001S928" //飞机的sn
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// ////dev_sn := "1581F5BMD23280014131" //吉林飞机的sn
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// //dev_sn := "1581F5BMD238V00172JR" //吉林飞机的sn
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// //camera_index := "165-0-7" //机库的摄像头id
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// ////camera_index = "53-0-0" //飞机摄像头1的id
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// //camera_index = "39-0-7" //飞机摄像头2的id
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// //Debug_mode_open(sn) //调试模式，先调试模式才能飞行器开机，推流不需要調試
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// //Debug_mode_close(sn)
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// //err, d := Cover_open(sn) //打开舱盖
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// //err, d := Cover_close(sn)
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// //err, d := Drone_open(sn) //飞行器开机
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// //err, d := Drone_close(sn) //飞行器关机
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// //err, d := Device_reboot(sn)
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// //
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// //fmt.Println(d)
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// //if err != nil {
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// // fmt.Println(err)
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// //} //打开舱盖
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// ////fmt.Println("打开舱盖")
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// //err, d := Live_start_push(sn, sn, camera_index)
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// //err, d := Live_stop_push(sn, sn, camera_index)
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//
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// //fmt.Println(d)
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// //if err != nil {
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// // fmt.Println(err)
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// // return
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// //} //关闭舱盖
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// ////fmt.Println(d.Data.Result)
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// //// //device_reboot()
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// //// //if err != nil {
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// //// // return
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// //// //}
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// //// //fmt.Println(d)
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// //// //live_stop_push(sn, sn, camera_index)
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// ////
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//})
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}
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func receiveHandler(client mqtt.Client, msg mqtt.Message) {
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topic := msg.Topic()
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arrs := strings.Split(topic, "/")
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tp := arrs[len(arrs)-1]
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if v, ok := MsgCallBackMap[tp]; ok {
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v.Recv(client, msg)
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if v.Reply != nil {
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v.Reply(client, msg)
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}
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} else {
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fmt.Println("非法topic", topic)
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}
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}
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func disconnected(client mqtt.Client, err error) {
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fmt.Println("断开了，准备重连")
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if err != nil {
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fmt.Println(err)
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g.Log("uav").Error(gctx.New(), err)
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}
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timer.Start()
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timer.Add(gctx.New(), time.Second*5, func(ctx context.Context) {
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connect()
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})
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}
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func connected(client mqtt.Client) {
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fmt.Println("链接成功")
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timer.Stop()
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}
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