122 lines
4.4 KiB
Python
122 lines
4.4 KiB
Python
#!/usr/bin/env python3
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import json
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import time
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import threading
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import paho.mqtt.client as mqtt
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from datetime import datetime
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# ----------------- 公共 MQTT 配置 -----------------
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MQTT_BROKER = "192.168.189.97" # 换成实际 IP
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MQTT_PORT = 1883
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KEEPALIVE = 60
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QOS = 1
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# -------------------------------------------------
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# 1. order 指令模板（发往 uagv/v2/SEER/{sn}/order）
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# -------------------------------------------------
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ORDER_TMPL = {
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"headerId": 103852,
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"timestamp": "",
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"version": "2.0.0",
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"manufacturer": "SEER",
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"serialNumber": "ROHDL04",
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"orderId": "1972692682446491649",
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"orderUpdateId": 81076,
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"nodes": [
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{"nodeId": "LM128", "nodeDescription": "LM128", "released": True,
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"nodePosition": {"x": -24.226, "y": 1.071, "mapId": "ROH1122_0804"}},
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{"nodeId": "LM129", "nodeDescription": "LM129", "released": True,
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"nodePosition": {"x": -29.226, "y": 1.071, "mapId": "ROH1122_0804"}},
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{"nodeId": "LM108", "nodeDescription": "LM108", "released": True,
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"nodePosition": {"x": -34.221, "y": 1.093, "mapId": "ROH1122_0804"}}
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],
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"edges": [
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{"edgeId": "LM128-LM129", "sequenceId": 216377, "released": True,
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"startNodeId": "LM128", "endNodeId": "LM129", "rotationAllowed": False,
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"trajectory": {"degree": 1.0, "knotVector": [0, 0, 1, 1],
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"controlPoints": [{"x": -25.89, "y": 1.071},
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{"x": -27.559, "y": 1.071}]}},
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{"edgeId": "LM129-LM108", "sequenceId": 216378,
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"startNodeId": "LM129", "endNodeId": "LM108", "rotationAllowed": False}
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]
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}
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ORDER_TOPIC = f"oagv/v2/asbm2_IRAYPLE/{ORDER_TMPL['serialNumber']}/order"
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# -------------------------------------------------
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# 2. instantActions 指令模板（发往 oagv/v2/1_VWED/{sn}/instantActions）
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# -------------------------------------------------
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INSTANT_TMPL = {
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"headerId": 103854,
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"timestamp": "",
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"version": "2.0.0",
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"serialNumber": "172.31.57.151-10067-17",
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"instantActions": [{
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"actionType": "writeValue",
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"actionId": "2fea9ad2-277f-4db3-b81d-d85454af111a",
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"actionDescription": "action parameters",
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"blockingType": "HARD",
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"actionParameters": [
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{"key": "registerName", "value": {"string_value": "set"}},
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{"key": "command", "value": {"string_value": "cmd:close"}}
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]
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}]
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}
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INSTANT_TOPIC = f"oagv/v2/asbm2_VWED/{INSTANT_TMPL['serialNumber']}/instantActions"
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# -------------------------------------------------
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# 工具：获取当前时间字符串
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# -------------------------------------------------
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def now_str():
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return datetime.utcnow().strftime("%Y-%m-%d %H:%M:%S")
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# -------------------------------------------------
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# 线程函数：循环发 order
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# -------------------------------------------------
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def publish_order(client):
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while True:
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try:
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ORDER_TMPL["timestamp"] = now_str()
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payload = json.dumps(ORDER_TMPL, separators=(',', ':'))
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client.publish(ORDER_TOPIC, payload, qos=QOS)
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print(f"[ORDER] {now_str()} -> {ORDER_TOPIC}")
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except Exception as e:
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print(f"[ORDER-ERROR] {e}")
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time.sleep(0.5)
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# -------------------------------------------------
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# 线程函数：循环发 instantActions
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# -------------------------------------------------
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def publish_instant(client):
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while True:
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try:
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INSTANT_TMPL["timestamp"] = now_str()
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payload = json.dumps(INSTANT_TMPL, separators=(',', ':'))
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client.publish(INSTANT_TOPIC, payload, qos=QOS)
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print(f"[INSTANT] {now_str()} -> {INSTANT_TOPIC}")
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except Exception as e:
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print(f"[INSTANT-ERROR] {e}")
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time.sleep(0.5)
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# -------------------------------------------------
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# 主入口
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# -------------------------------------------------
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def main():
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client = mqtt.Client()
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client.connect(MQTT_BROKER, MQTT_PORT, KEEPALIVE)
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client.loop_start()
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# threading.Thread(target=publish_order, args=(client,), daemon=True).start()
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threading.Thread(target=publish_instant, args=(client,), daemon=True).start()
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# 主线程保持存活
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try:
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while True:
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time.sleep(1)
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except KeyboardInterrupt:
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print("--- 用户中断 ---")
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finally:
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client.loop_stop()
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client.disconnect()
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if __name__ == "__main__":
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main() |