commit

aarch64/pji/common/config/c_cloud.go

@@ -75,6 +75,7 @@ var (
 func InitCloudConfig() {
 	// history20240401：朴津机器人额外加一个获取sn码
 	var snCode string
+
 	for {
 		time.Sleep(time.Duration(2) * time.Second)
 		var command []string

aarch64/pji/common/config/yaml/巡检机器人默认配置文件-local-config.yaml

@@ -2,6 +2,7 @@ node:
   name: node1
   ip: 192.168.1.104
 rosparam-path: /opt/ros/melodic/bin/rosparam
+type: 1 # 机器人类型 1 引导机器人 2 配送机器人 3 巡检机器人
 # 获取oss连接信息的接口url
 #url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 国汽数据闭环
 url-get-oss-config: http://36.110.106.156:18379/oss/pji?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 朴津数据闭环

aarch64/pji_api/main/main.go

@@ -0,0 +1,97 @@
+package main
+
+import (
+	"encoding/json"
+	"fmt"
+	"log"
+	"net/url"
+	"time"
+
+	"github.com/gorilla/websocket"
+)
+
+// Request 结构体定义
+type Request struct {
+	Type      string      `json:"type"`
+	UUID      string      `json:"uuid"`
+	CommandID string      `json:"commandId"`
+	Parameter interface{} `json:"parameter"`
+}
+
+// Response 结构体定义
+type Response struct {
+	CommandID string            `json:"commandId"`
+	ErrorCode string            `json:"errorCode"`
+	Results   map[string]string `json:"results"`
+	Status    string            `json:"status"`
+	Time      int64             `json:"time"`
+	Type      string            `json:"type"`
+	UUID      string            `json:"uuid"`
+}
+
+// SendWebsocketRequest 发送WebSocket请求并返回sn字段的值
+func SendWebsocketRequest(serverURL, path string, request Request) (string, error) {
+	// 构建WebSocket连接URL
+	u := url.URL{Scheme: "ws", Host: serverURL, Path: path}
+
+	// 创建一个Dialer实例，用于建立WebSocket连接
+	dialer := websocket.Dialer{
+		ReadBufferSize:  1024,
+		WriteBufferSize: 1024,
+		// 可选：设置超时等
+		HandshakeTimeout: 5 * time.Second,
+	}
+
+	// 建立WebSocket连接
+	conn, _, err := dialer.Dial(u.String(), nil)
+	if err != nil {
+		return "", fmt.Errorf("dial: %w", err)
+	}
+	defer conn.Close()
+
+	// 将请求JSON编码为字节
+	requestJSON, err := json.Marshal(request)
+	if err != nil {
+		return "", fmt.Errorf("marshal request: %w", err)
+	}
+
+	// 发送WebSocket消息
+	err = conn.WriteMessage(websocket.TextMessage, requestJSON)
+	if err != nil {
+		return "", fmt.Errorf("write: %w", err)
+	}
+
+	// 读取WebSocket响应
+	_, responseBytes, err := conn.ReadMessage()
+	if err != nil {
+		return "", fmt.Errorf("read: %w", err)
+	}
+
+	// 将响应字节解码为JSON
+	var response Response
+	err = json.Unmarshal(responseBytes, &response)
+	if err != nil {
+		return "", fmt.Errorf("unmarshal response: %w", err)
+	}
+
+	// 返回sn字段的值
+	return response.Results["sn"], nil
+}
+
+func main() {
+	// 示例使用
+	serverURL := "192.168.1.104:8080"
+	path := "/"
+	request := Request{
+		Type:      "request",
+		UUID:      "",
+		CommandID: "getRobotBaseInfo",
+		Parameter: nil,
+	}
+
+	sn, err := SendWebsocketRequest(serverURL, path, request)
+	if err != nil {
+		log.Fatal(err)
+	}
+	log.Printf("SN: %s", sn)
+}

build-pji_api.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# 话题echo程序
+go build -o ./exe/pji_api.exe ./aarch64/pji_api/main/main.go

go.mod

@@ -46,6 +46,7 @@ require (
 	github.com/golang/protobuf v1.5.4 // indirect
 	github.com/google/go-cmp v0.6.0 // indirect
 	github.com/gookit/color v1.5.4 // indirect
+	github.com/gorilla/websocket v1.5.2 // indirect
 	github.com/hhrutter/lzw v1.0.0 // indirect
 	github.com/hhrutter/tiff v1.0.1 // indirect
 	github.com/jmespath/go-jmespath v0.0.0-20180206201540-c2b33e8439af // indirect
@@ -79,12 +80,12 @@ require (
 	go.uber.org/multierr v1.6.0 // indirect
 	go.uber.org/zap v1.21.0 // indirect
 	golang.org/x/arch v0.7.0 // indirect
-	golang.org/x/crypto v0.21.0 // indirect
+	golang.org/x/crypto v0.24.0 // indirect
 	golang.org/x/image v0.14.0 // indirect
-	golang.org/x/net v0.23.0 // indirect
-	golang.org/x/sync v0.2.0 // indirect
-	golang.org/x/sys v0.18.0 // indirect
-	golang.org/x/text v0.14.0 // indirect
+	golang.org/x/net v0.26.0 // indirect
+	golang.org/x/sync v0.7.0 // indirect
+	golang.org/x/sys v0.21.0 // indirect
+	golang.org/x/text v0.16.0 // indirect
 	golang.org/x/time v0.4.0 // indirect
 	google.golang.org/genproto v0.0.0-20230410155749-daa745c078e1 // indirect
 	google.golang.org/grpc v1.56.3 // indirect

go.sum

@@ -243,6 +243,8 @@ github.com/googleapis/gax-go/v2 v2.0.4/go.mod h1:0Wqv26UfaUD9n4G6kQubkQ+KchISgw+
 github.com/googleapis/gax-go/v2 v2.0.5/go.mod h1:DWXyrwAJ9X0FpwwEdw+IPEYBICEFu5mhpdKc/us6bOk=
 github.com/gookit/color v1.5.4 h1:FZmqs7XOyGgCAxmWyPslpiok1k05wmY3SJTytgvYFs0=
 github.com/gookit/color v1.5.4/go.mod h1:pZJOeOS8DM43rXbp4AZo1n9zCU2qjpcRko0b6/QJi9w=
+github.com/gorilla/websocket v1.5.2 h1:qoW6V1GT3aZxybsbC6oLnailWnB+qTMVwMreOso9XUw=
+github.com/gorilla/websocket v1.5.2/go.mod h1:0n9H61RBAcf5/38py2MCYbxzPIY9rOkpvvMT24Rqs30=
 github.com/grpc-ecosystem/grpc-gateway v1.16.0/go.mod h1:BDjrQk3hbvj6Nolgz8mAMFbcEtjT1g+wF4CSlocrBnw=
 github.com/hamba/avro v1.5.6/go.mod h1:3vNT0RLXXpFm2Tb/5KC71ZRJlOroggq1Rcitb6k4Fr8=
 github.com/hashicorp/golang-lru v0.5.0/go.mod h1:/m3WP610KZHVQ1SGc6re/UDhFvYD7pJ4Ao+sR/qLZy8=
@@ -459,6 +461,8 @@ golang.org/x/crypto v0.0.0-20200510223506-06a226fb4e37/go.mod h1:LzIPMQfyMNhhGPh
 golang.org/x/crypto v0.0.0-20200622213623-75b288015ac9/go.mod h1:LzIPMQfyMNhhGPhUkYOs5KpL4U8rLKemX1yGLhDgUto=
 golang.org/x/crypto v0.21.0 h1:X31++rzVUdKhX5sWmSOFZxx8UW/ldWx55cbf08iNAMA=
 golang.org/x/crypto v0.21.0/go.mod h1:0BP7YvVV9gBbVKyeTG0Gyn+gZm94bibOW5BjDEYAOMs=
+golang.org/x/crypto v0.24.0 h1:mnl8DM0o513X8fdIkmyFE/5hTYxbwYOjDS/+rK6qpRI=
+golang.org/x/crypto v0.24.0/go.mod h1:Z1PMYSOR5nyMcyAVAIQSKCDwalqy85Aqn1x3Ws4L5DM=
 golang.org/x/exp v0.0.0-20190121172915-509febef88a4/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA=
 golang.org/x/exp v0.0.0-20190306152737-a1d7652674e8/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA=
 golang.org/x/exp v0.0.0-20190510132918-efd6b22b2522/go.mod h1:ZjyILWgesfNpC6sMxTJOJm9Kp84zZh5NQWvqDGG3Qr8=
@@ -527,6 +531,8 @@ golang.org/x/net v0.0.0-20210405180319-a5a99cb37ef4/go.mod h1:p54w0d4576C0XHj96b
 golang.org/x/net v0.0.0-20210525063256-abc453219eb5/go.mod h1:9nx3DQGgdP8bBQD5qxJ1jj9UTztislL4KSBs9R2vV5Y=
 golang.org/x/net v0.23.0 h1:7EYJ93RZ9vYSZAIb2x3lnuvqO5zneoD6IvWjuhfxjTs=
 golang.org/x/net v0.23.0/go.mod h1:JKghWKKOSdJwpW2GEx0Ja7fmaKnMsbu+MWVZTokSYmg=
+golang.org/x/net v0.26.0 h1:soB7SVo0PWrY4vPW/+ay0jKDNScG2X9wFeYlXIvJsOQ=
+golang.org/x/net v0.26.0/go.mod h1:5YKkiSynbBIh3p6iOc/vibscux0x38BZDkn8sCUPxHE=
 golang.org/x/oauth2 v0.0.0-20180821212333-d2e6202438be/go.mod h1:N/0e6XlmueqKjAGxoOufVs8QHGRruUQn6yWY3a++T0U=
 golang.org/x/oauth2 v0.0.0-20190226205417-e64efc72b421/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw=
 golang.org/x/oauth2 v0.0.0-20190604053449-0f29369cfe45/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw=
@@ -548,6 +554,8 @@ golang.org/x/sync v0.0.0-20201207232520-09787c993a3a/go.mod h1:RxMgew5VJxzue5/jJ
 golang.org/x/sync v0.0.0-20210220032951-036812b2e83c/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.2.0 h1:PUR+T4wwASmuSTYdKjYHI5TD22Wy5ogLU5qZCOLxBrI=
 golang.org/x/sync v0.2.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
+golang.org/x/sync v0.7.0 h1:YsImfSBoP9QPYL0xyKJPq0gcaJdG3rInoqxTWbfQu9M=
+golang.org/x/sync v0.7.0/go.mod h1:Czt+wKu1gCyEFDUtn0jG5QVvpJ6rzVqr5aXyt9drQfk=
 golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20180905080454-ebe1bf3edb33/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20180909124046-d0be0721c37e/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
@@ -600,9 +608,12 @@ golang.org/x/sys v0.5.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.6.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.18.0 h1:DBdB3niSjOA/O0blCZBqDefyWNYveAYMNF1Wum0DYQ4=
 golang.org/x/sys v0.18.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
+golang.org/x/sys v0.21.0 h1:rF+pYz3DAGSQAxAu1CbC7catZg4ebC4UIeIhKxBZvws=
+golang.org/x/sys v0.21.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
 golang.org/x/term v0.18.0 h1:FcHjZXDMxI8mM3nwhX9HlKop4C0YQvCVCdwYl2wOtE8=
 golang.org/x/term v0.18.0/go.mod h1:ILwASektA3OnRv7amZ1xhE/KTR+u50pbXfZ03+6Nx58=
+golang.org/x/term v0.21.0 h1:WVXCp+/EBEHOj53Rvu+7KiT/iElMrO8ACK16SMZ3jaA=
 golang.org/x/text v0.0.0-20170915032832-14c0d48ead0c/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/text v0.3.1-0.20180807135948-17ff2d5776d2/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
@@ -612,6 +623,8 @@ golang.org/x/text v0.3.5/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
 golang.org/x/text v0.3.6/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
 golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ=
 golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU=
+golang.org/x/text v0.16.0 h1:a94ExnEXNtEwYLGJSIUxnWoxoRz/ZcCsV63ROupILh4=
+golang.org/x/text v0.16.0/go.mod h1:GhwF1Be+LQoKShO3cGOHzqOgRrGaYc9AvblQOmPVHnI=
 golang.org/x/time v0.0.0-20181108054448-85acf8d2951c/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
 golang.org/x/time v0.0.0-20190308202827-9d24e82272b4/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
 golang.org/x/time v0.0.0-20191024005414-555d28b269f0/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ=
@@ -665,6 +678,7 @@ golang.org/x/tools v0.1.1/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk=
 golang.org/x/tools v0.1.5/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk=
 golang.org/x/tools v0.18.0 h1:k8NLag8AGHnn+PHbl7g43CtqZAwG60vZkLqgyZgIHgQ=
 golang.org/x/tools v0.18.0/go.mod h1:GL7B4CwcLLeo59yx/9UWWuNOW1n3VZ4f5axWfML7Lcg=
+golang.org/x/tools v0.21.1-0.20240508182429-e35e4ccd0d2d h1:vU5i/LfpvrRCpgM/VPfJLg5KjxD3E+hfT1SH+d9zLwg=
 golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
 golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=