cicv_data_closed_loop/tools/pji_api/main/main.go

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"`
}

// 状态消息 结构体定义
type StatusMessage struct {
	Type  string      `json:"type"`
	Topic string      `json:"topic"`
	Time  int64       `json:"time"`
	Data  interface{} `json:"data"`
}

// 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
}

//// 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 receiveHandler(connection *websocket.Conn) {
	for {
		time.Sleep(1 * time.Second)
		_, msg, err := connection.ReadMessage()
		if err != nil {
			log.Println("Error in receive:", err)
			break
		}
		log.Printf("Received: %s\n", msg)
		// 将响应字节解码为JSON
		var statusMessage StatusMessage
		err = json.Unmarshal(msg, &statusMessage)
		if err != nil {
			log.Println("Error in receive:", err)
			break
		}
		fmt.Println("statusMessage:", statusMessage)
		if statusMessage.Type == "push" && statusMessage.Topic == "robotStatus" {
			data := statusMessage.Data.(map[string]interface{})
			fmt.Println("statusMessage.Data", data)
			fmt.Println("statusMessage.Data[\"taskStatus\"]", data["taskStatus"])
		}
	}
}

func main() {
	// 示例使用
	serverURL := "192.168.1.104:9002"
	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)

	// 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 {
		fmt.Println("err:", err)
	}
	defer conn.Close()

	go receiveHandler(conn)

	select {}
}