mqtt

servo/src/main/java/com/galaxis/rcs/RcsRootController.java

@@ -1,12 +1,22 @@
 package com.galaxis.rcs;
 
+import com.galaxis.rcs.communication.amrCommunication.MqttService;
+import org.eclipse.paho.mqttv5.common.MqttException;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.RestController;
 
 @RestController
 public class RcsRootController {
+
+    @Autowired
+    private MqttService mqttService;
+
     @GetMapping("/ok")
-    public String ok() {
+    public String ok() throws MqttException {
+        mqttService.subscribe("/agv_robot/status");
+//        mqttService.publish("rcs/root/ok", "OK");
         return "OK";
     }
+
 }

servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/MqttConfig.java

@@ -0,0 +1,43 @@
+package com.galaxis.rcs.communication.amrCommunication;
+
+import org.eclipse.paho.mqttv5.client.MqttClient;
+import org.eclipse.paho.mqttv5.client.MqttConnectionOptions;
+import org.eclipse.paho.mqttv5.common.MqttException;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+
+@Configuration
+public class MqttConfig {
+    @Value("${mqtt.broker-url}")
+    private String brokerUrl;
+
+    @Value("${mqtt.client-id}")
+    private String clientId;
+
+    @Value("${mqtt.username}")
+    private String username;
+
+    @Value("${mqtt.password}")
+    private String password;
+
+    @Bean
+    public MqttConnectionOptions mqttConnectOptions() {
+        MqttConnectionOptions options = new MqttConnectionOptions();
+        options.setServerURIs(new String[]{brokerUrl});
+        options.setAutomaticReconnect(true);  // 启用自动重连
+        options.setUserName(username);
+        options.setPassword(password.getBytes());
+        return options;
+    }
+
+    @Bean(destroyMethod = "disconnect")
+    public MqttClient mqttClient() throws MqttException {
+        MqttClient client = new MqttClient(brokerUrl, clientId);
+        client.connect(mqttConnectOptions());
+        return client;
+    }
+}
+
+

servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/MqttService.java

@@ -0,0 +1,27 @@
+package com.galaxis.rcs.communication.amrCommunication;
+
+import org.eclipse.paho.mqttv5.client.IMqttMessageListener;
+import org.eclipse.paho.mqttv5.client.MqttClient;
+import org.eclipse.paho.mqttv5.common.MqttException;
+import org.eclipse.paho.mqttv5.common.MqttMessage;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Service
+public class MqttService implements IMqttMessageListener {
+    @Autowired
+    private MqttClient mqttClient;
+
+    public void subscribe(String topic) throws MqttException {
+        mqttClient.subscribe(topic, 0, this);
+    }
+
+    public void publish(String topic, String payload) throws MqttException {
+        mqttClient.publish(topic, new MqttMessage(payload.getBytes()));
+    }
+
+    @Override
+    public void messageArrived(String topic, MqttMessage message) throws Exception {
+        System.out.println("Received message: " + message.toString() + " from topic: " + topic);
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2TaskManger.java

@@ -0,0 +1,4 @@
+package com.galaxis.rcs.connector.cl2;
+
+public class Cl2TaskManger {
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrMessage.java

@@ -0,0 +1,16 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+// RCS 接收 AMR的消息
+public class AmrMessage<T> {
+    // 作业序号 UInt32 从1开始，0作为超级序号使用，不参与序号规则判断
+    public long SeqNo;
+    // AMR编号 UInt16
+    public int VehicleId;
+    // 消息创建时间 UInt64 毫秒级时间戳
+    public long CreateTime;
+    // 消息创建时主机的开机时长 UInt64 毫秒级时间戳
+    public long CreateMonoTime;
+    // 发送消息的时间 UInt64 毫秒级时间戳
+    public long SendTime;
+
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/Cmd10010.java

@@ -47,6 +47,30 @@ public class Cmd10010 {
     public byte Roll1Motion;
     // 滚筒2 运动操作 对于左右滚动的双滚筒机型，此滚筒为靠近车尾的滚筒。 对于前后滚动的双滚筒机型，此滚筒为车身右侧的滚筒。 对于单滚筒机型，此参数无意义。  UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
     public byte Roll2Motion;
+    // 与滚筒1对接的站台朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
+    public byte Roll1StationDirection;
+    // 与滚筒2对接的站台朝向 对于单滚筒机型，此参数无意义。 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
+    public byte Roll2StationDirection;
+    // 滚筒1目标货物长度 UInt16 单位：mm
+    public int Roll1GoodsLength;
+    // 滚筒2目标货物长度 对于单滚筒机型，此参数无意义。UInt16 单位：mm
+    public int Roll2GoodsLength;
+    // 滚筒1目标货物数量 UInt16 1～N
+    public int Roll1GoodsQuantity;
+    // 滚筒2目标货物数量 对于单滚筒机型，此参数无意义。 UInt16 1～N
+    public int Roll2GoodsQuantity;
+    // 多滚筒运动模式 UInt8[6]	数组形式，0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
+    public byte[] MRollMotion;
+    // 多滚筒对接的站台朝向	UInt8[6] 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
+    public byte[] MRollStationDirection;
+    // 多滚筒目标货物数量	UInt16[6] 数组形式，意义同"RollGoodsQuantity"
+    public int[] MRollGoodsQuantity;
+    // 是否仅执行任务的准备部分	bool 默认为false，仅执行该动作的准备部分，如仅进行导航，调整托盘高度等，但不进行取放货操作
+    public boolean Preparing;
+    // 货架标识 uint32 车根据货架类型查询尺寸进行避障
+    public long RackTypeId;
+    // 终点自适应	 bool 默认为false，为true时，会根据任务和对应器件的位置，自动调整停止点
+    public boolean EndSelfAdaption;
 
     static class Link {
         //该段目标点X坐标	UInt16 逻辑单位，乘以一定系数才是物理距离

servo/src/main/resources/application-dev.yml

@@ -37,6 +37,11 @@ redis:
         database: 0
         password: 'yxt123456'
 
+mqtt:
+  broker-url: 'tcp://10.10.8.31:1883'
+  client-id: 'yvan-rcs-dev'
+  username: 'admin'
+  password: 'admin'
 web:
   resources:
     enable: true

servo/src/main/resources/application.yml

@@ -141,6 +141,7 @@ web:
       read-only: false
   security:
     ignore-paths:
+      - '/ok'
       - '/favicon.ico'
       - '/dist/**'
       - '/static/**'
@@ -160,7 +161,7 @@ web:
       - '/**/*.woff2'
       - '/**/.git'
       - '/ok'
-    ignore-auth-paths: [ ]
+    ignore-auth-paths: ['/ok']
     ignore-auth-failed-paths: [ ]
     current-user-path: '/api/current_user'
     login: