AIBOX采用MQTT和GB28181協(xié)議實(shí)現(xiàn)外部平臺(tái)對(duì)接，基本上參考大疆的上云API。MQTT消息用于控制，事件上報(bào)等。GB28181用于視頻相關(guān)流媒體傳輸。
用戶可以對(duì)照著大疆的MQTT Topic協(xié)議文檔https://developer.dji.com/doc/cloud-api-tutorial/cn/api-reference/pilot-to-cloud/mqtt/topic-definition.html
| Topic Name | 發(fā)送者 -> 訂閱者 | Message | 說明 |
|---|---|---|---|
| thing/product/{device_sn}/osd | 設(shè)備 > 云平臺(tái) | 盒子定頻向云平臺(tái)推送的設(shè)備屬性 | |
| thing/product/{device_sn}/state | 設(shè)備 > 云平臺(tái) | 盒子按需上報(bào)向云平臺(tái)推送的設(shè)備屬性 | |
| thing/product/{gateway_sn}/services | 云平臺(tái) -> 設(shè)備 | 云平臺(tái)向盒子請(qǐng)求的服務(wù) | |
| thing/product/{gateway_sn}/services_reply | 設(shè)備 > 云平臺(tái) | 設(shè)備對(duì) service 的回復(fù)、處理結(jié)果 | |
| thing/product/{gateway_sn}/events | 設(shè)備 > 云平臺(tái) | 設(shè)備端向云平臺(tái)發(fā)送的事件 | |
| thing/product/{gateway_sn}/requests | 設(shè)備 > 云平臺(tái) | 設(shè)備端向云平臺(tái)發(fā)送請(qǐng)求，為了獲取一些信息，比如上傳的臨時(shí)憑證 | |
| thing/product/{gateway_sn}/requests_reply | 云平臺(tái) -> 設(shè)備 | 云平臺(tái)對(duì)設(shè)備請(qǐng)求的回復(fù) | |
| sys/product/{gateway_sn}/status | 設(shè)備 > 云平臺(tái) | 設(shè)備上下線 | |
| thing/product/{gateway_sn}/drc/up | 設(shè)備 > 云平臺(tái) | DRC 協(xié)議上行 | |
| thing/product/{gateway_sn}/drc/down | 云平臺(tái) > 設(shè)備 | DRC 協(xié)議下行 |
| Column | Name | Type | Description |
|---|---|---|---|
| tid | 事務(wù)uuid | text | 事務(wù)（Transaction）的 UUID：表征一次簡單的消息通信 |
| bid | 業(yè)務(wù)uuid | text | 業(yè)務(wù)（Business）的 UUID |
| timestamp | 毫秒時(shí)間戳 | int | 消息的發(fā)送時(shí)間 |
| gateway | 網(wǎng)關(guān)設(shè)備的序列號(hào) | text | 發(fā)送該消息的網(wǎng)關(guān)設(shè)備的序列號(hào) |
| data | 消息內(nèi)容 | object | 消息內(nèi)容 |
topic: thing/product/{gateway_sn}/services
Direction: down
Method: live_start_push
| Column | Name | Type | Description |
|---|---|---|---|
| url_type | 直播協(xié)議類型 | enum | "3" //GB28181 |
| url | 直播參數(shù) | text | "serverIP=192.168.1.1&serverPort=8080&serverID=34000000000000000000&agentID=300000000010000000000&agentPassword=0000000&localPort=7060&channel=340000000000000000000&agentID1=300000000010000000001&agentPassword1=0000000&localPort1=7061&channel1=340000000000000000001" |
| video_id | 直播視頻流的ID編號(hào) | text | 1ZNDH1D0010098/39-0-7/normal-0 |
| video_quality | 直播質(zhì)量 | enum | {"0":"自適應(yīng)","1":"流暢","2":"標(biāo)清","3":"高清","4":"超清"} |
| 示例： |
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"url_type": "3", //gb28181
"url": "serverIP=192.168.1.1&serverPort=8080&serverID=34000000000000000000&agentID=300000000010000000000&agentPassword=0000000&localPort=7060&channel=340000000000000000000&agentID1=300000000010000000001&agentPassword1=0000000&localPort1=7061&channel1=340000000000000000001",
"video_id": "1ZNDH1D0010098/39-0-7/normal-0",
"video_quality": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "live_start_push"
}
topic: thing/product/{gateway_sn}/services
Direction: down
Method: live_stop_push
| Column | Name | Type | Description |
|---|---|---|---|
| video_id | 直播視頻流的ID編號(hào) | text | 1ZNDH1D0010098/39-0-7/normal-0 |
| 示例： |
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp:": 1654070968655,
"method": "live_stop_push",
"data": {
"video_id": "1ZNDH1D0010098/42-0-0/zoom-0"
}
}
topic: thing/product/{device_sn}/osd
說明：此消息1hz定時(shí)上報(bào)
| Column | Name | Type | Description |
|---|---|---|---|
| height | 絕對(duì)高度 | float | |
| latitude | 當(dāng)前位置緯度 | float | |
| longitude | 當(dāng)前位置經(jīng)度 | float | |
| authority_change | bool | 控制權(quán)變化 | |
| flight_authority_type | int | ||
| flight_authority_user | string | ||
| live_status | int | ||
| live_quality | int | ||
| live_video_type | string | ||
| available_network | int | ||
| real_use_network | int | ||
| wireless_status_list | 無線信號(hào)質(zhì)量 | array |
wireliess_status_list字段
| Column | Name | Type | Description |
|---|---|---|---|
| module_name | string | ||
| module_installed | bool | ||
| module_connected | bool | ||
| in_use | bool | ||
| sim_card_status | enum_int | // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad | |
| ue_state | string | ||
| network_type | string | ||
| cell_id | string | ||
| rsrp | int | ||
| sinr | int | ||
| sdr_quality | int |
示例：
{
"bid":"00000000-0000-0000-0000-000000000000",
"tid":"00000000-0000-0000-0000-000000000000",
"timestamp":1727505066666,
"gateway":"1ZMBJBF0030041",
"data": {
wireless_status_list: [
{
"module_name" : "5G_A", //Module name in AIBOX
"module_installed" : true,
"sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
"ue_state": "NOCONN", // "SEARCH", "LIMSRV", "NOCONN", "CONNECT"
"network_type" : "NR", // LTE, NR
"cell_id" : 0, // cell id
"rsrp" : -70, // received signal strength, dbm
"sinr" : -20, //signal to interference plus noise ratio, db
},
{
"module_name" : "5G_B",
"module_installed" : true,
"sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
"ue_state": "NOCONN",
"network_type" : "NR", // LTE, NR
"cell_id" : 0,
"rsrp" : -70,
"sinr" : -20,
},
{
"module_name" : "1.4G",
"module_installed" : true,
"sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
"ue_state": "NOCONN",
"network_type" : "LTE", // LTE, NR
"cell_id" : 0,
"rsrp" : -70,
"sinr" : -20,
},
]
},
}
topic: thing/product/{device_sn}/osd
說明：此消息1hz定時(shí)上報(bào)
| Column | Name | Type | Description |
|---|---|---|---|
| attitude_head | 偏航軸角度 | float | 偏航軸角度與真北角（經(jīng)線）的角度，0到6點(diǎn)鐘方向?yàn)檎担?到12點(diǎn)鐘方向?yàn)樨?fù)值 |
| attitude_pitch | 俯仰軸角度 | float | |
| attitude_roll | 橫滾軸角度 | float | |
| battery | 飛行器電池信息 | struct | |
| distance_limit_status | struct | ||
| elevation | 相對(duì)起飛點(diǎn)高度 | float | |
| firmware_version | 固件版本 | string | {"length":"64"} |
| gear | 檔位 | enum | {"0":"A","1":"P","2":"NAV","3":"FPV","4":"FARM","5":"S","6":"F","7":"M","8":"G","9":"T"} |
| height | 絕對(duì)高度 | float | 相對(duì)地球橢球面高度, 計(jì)算：相對(duì)起飛點(diǎn)的高度 + 起飛點(diǎn)的橢球高 |
| height_limit | 飛行器限高 | int | {"max":"1500","min":"20","step":"1","unit_name":"米 / m"} |
| home_distance | 距離 Home 點(diǎn)的距離 | float | |
| horizontal_speed | 水平速度 | float | |
| latitude | 當(dāng)前位置緯度 | float | {"max":"3.4028235E38","min":"-1.4E-45","step":"0.1"} |
| longitude | 當(dāng)前位置經(jīng)度 | float | {"max":"3.4028235E38","min":"-1.4E-45","step":"0.1"} |
| mode_code | 飛行器狀態(tài) | enum | {"0":"待機(jī)","1":"起飛準(zhǔn)備","2":"起飛準(zhǔn)備完畢","3":"手動(dòng)飛行","4":"自動(dòng)起飛","5":"航線飛行","6":"全景拍照","7":"智能跟隨","8":"ADS-B 躲避","9":"自動(dòng)返航","10":"自動(dòng)降落","11":"強(qiáng)制降落","12":"三槳葉降落","13":"升級(jí)中","14":"未連接","15":"APAS","16":"虛擬搖桿狀態(tài)","17":"指令飛行","18":"空中 RTK 收斂模式"} |
| payload | 負(fù)載 | Struct | |
| position_state | 搜星狀態(tài) | struct | |
| storage | 存儲(chǔ)容量 | Struct | |
| total_flight_distance | 飛行器累計(jì)飛行總里程 | Float | {"unit_name":"米 / m"} |
| total_flight_time | 飛行器累計(jì)飛行航時(shí) | Int | {"unit_name":"秒 / s"} |
| track_id | 航跡 ID | string | {"length":"64"} |
| vertical_speed | 垂直速度 | float | {"unit_name":"米每秒 / m/s"} |
| wind_direction | 當(dāng)前風(fēng)向 | Enum | {"1":"正北","2":"東北","3":"東","4":"東南","5":"南","6":"西南","7":"西","8":"西北"} |
| wind_speed | 風(fēng)速 | float | 風(fēng)速估計(jì)，該風(fēng)速是通過飛行器姿態(tài)推測出的，有一定的誤差，僅供參考，不能作為氣象數(shù)據(jù)使用 |
Position state字段
| Column | Name | Type | Description |
|---|---|---|---|
| gps_number | GPS 搜星數(shù)量 | int | |
| is_fixed | 是否收斂 | Enum | {"0":"未開始","1":"收斂中","2":"收斂成功","3":"收斂失敗"} |
| quality | 搜星檔位 | enum | {"1":"1檔","2":"2檔","3":"3檔","4":"4檔","5":"5檔"} |
| rtk_number | RTK 搜星數(shù)量 | int |
drone battery字段
| Column | Name | Type | Description |
|---|---|---|---|
| batteries | 電池詳細(xì)信息 | array | |
| capacity_percent | 電池的總剩余電量 | int | {"max":100,"min":0} |
| landing_power | 強(qiáng)制降落電量百分比 | int | {"max":100,"min":0} |
| remain_flight_time | 剩余飛行時(shí)間 | int | {"unit_name":"秒 / s"} |
| return_home_power | 返航所需電量百分比 | int | {"max":100,"min":0} |
battery字段
| Column | Name | Type | Description |
|---|---|---|---|
| capacity_percent | 電池剩余電量 | int | {"max":100,"min":0} |
| firmware_version | 固件版本 | string | |
| high_voltage_storage_days | 高電壓存儲(chǔ)天數(shù) | int | {"unit_name":"日 / day"} |
| index | 電池序號(hào) | int | left: 0 right: 1 |
| loop_times | 電池循環(huán)次數(shù) | int | |
| sn | 電池序列號(hào)（SN） | string | |
| sub_type | 電池子類型 | enum_int | |
| temperature | 溫度 | float | {"unit_name":"攝氏度 / °C"} 保留小數(shù)點(diǎn)后一位 |
| type | 電池類型 | enum_int | |
| voltage | 電壓 | int | {"unit_name":"毫伏 / mV"} |
storage字段
| Column | Name | Type | Description |
|---|---|---|---|
| total | 總?cè)萘?/td> | int | {"unit_name":"千字節(jié) / KB"} |
| used | 已使用容量 | int | {"unit_name":"千字節(jié) / KB"} |
示例：
topic: sys/product/{gateway_sn}/status
字段：
| Column | Name | Type | Description |
|---|---|---|---|
| device_secret | 網(wǎng)關(guān)設(shè)備的密鑰 | ||
| domain | 網(wǎng)關(guān)設(shè)備的命名空間 | ||
| nonce | nonce | ||
| sub_devices | 子設(shè)備列表 | ||
| sub_type | 網(wǎng)關(guān)子設(shè)備的產(chǎn)品子類型 | ||
| thing_version | 網(wǎng)關(guān)設(shè)備的物模型版本 | ||
| type | 網(wǎng)關(guān)設(shè)備的產(chǎn)品類型 |
sub_device字段
| Column | Name | Type | Description |
|---|---|---|---|
| device_secret | 子設(shè)備的密鑰 | ||
| domain | |||
| index | |||
| nonce | nonce | ||
| sn | 子設(shè)備序列號(hào)（SN） | ||
| sub_type | |||
| thing_version | |||
| type |
示例：
{
"tid": "tid001",
"bid": "bid001",
"method": "update_topo",
"timestamp": 1234567890123,
"gateway": "gw123456",
"from": "gw123456",
"data": {
"type": 98,
"sub_type": 0,
"device_secret": "secret",
"nonce": "nonce",
"version": 1,
"sub_devices": [
{
"sn": "drone001",
"type": 116,
"sub_type": 0,
"index": "A",
"device_secret": "secret",
"nonce": "nonce",
"version": 1
}
]
}
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flight_authority_grab
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flight_authority_grab"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flight_authority_grab
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flight_authority_grab"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: takeoff_to_point
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| commander_flight_height | 【必填】指點(diǎn)飛行高度 | float | {"max":3000,"min":2,"step":0.1,"unit_name":"米 / m"} 相對(duì)(機(jī)場)起飛點(diǎn)的高度，相對(duì)高 ALT |
| commander_flight_mode | 【必填】指點(diǎn)飛行模式設(shè)置值 | enum_int | {"0":"智能高度飛行","1":"設(shè)定高度飛行"} |
| commander_mode_lost_action | 【必填】指點(diǎn)飛行失控動(dòng)作 | enum_int | {"0":"繼續(xù)執(zhí)行指點(diǎn)飛行任務(wù)","1":"退出指點(diǎn)飛行任務(wù)，執(zhí)行普通失控行為"} |
| flight_id | 一鍵起飛任務(wù) UUID | string | 任務(wù) UUID，全局唯一，用于染色，云端區(qū)分該值是普通計(jì)劃任務(wù)還是一鍵起飛任務(wù) |
| max_speed | 一鍵起飛的飛行過程中能達(dá)到的最大速度 | int | {"max":15,"min":1,"unit_name":"米每秒 / m/s"} |
| rth_altitude | 返航高度 | int | {"max":1500,"min":2,"step":1,"unit_name":"米 / m"}相對(duì)(機(jī)場)起飛點(diǎn)的高度，相對(duì)高 ALT |
| rc_lost_action | 遙控器失控動(dòng)作 | enum_int | {"0":"懸停","1":"著陸(降落)","2":"返航"}遙控器失控動(dòng)作 |
| rth_mode | 【必填】返航模式設(shè)置值 | enum_int | {"0":"智能高度","1":"設(shè)定高度"}智能返航模式下，飛行器將自動(dòng)規(guī)劃最佳返航高度。大疆機(jī)場當(dāng)前不支持設(shè)置返航高度模式，只能選擇'設(shè)定高度'模式。當(dāng)環(huán)境，光線不滿足視覺系統(tǒng)要求時(shí)（譬如傍晚陽光直射、夜間弱光無光），飛行器將使用您設(shè)定的返航高度進(jìn)行直線返航 |
| security_takeoff_height | 安全起飛高度 | float | {"max":1500,"min":20,"step":0.1,"unit_name":"米 / m"}相對(duì)(機(jī)場)起飛點(diǎn)的高度（ALT），飛行器先升到特定的高度，然后再飛向目標(biāo)點(diǎn)。 |
| target_height | 目標(biāo)點(diǎn)高度 | float | {"max":1500,"min":2,"step":0.1,"unit_name":"米 / m"}目標(biāo)點(diǎn)高度（橢球高），使用 WGS84 模型，飛行器到點(diǎn)后默認(rèn)行為：懸停 |
| target_latitude | 目標(biāo)點(diǎn)緯度 | double | {"max":90,"min":-90} 目標(biāo)點(diǎn)緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點(diǎn)后6位 |
| target_longitude | 目標(biāo)點(diǎn)經(jīng)度 | double | {"max":180,"min":-180} 目標(biāo)點(diǎn)經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點(diǎn)后6位 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"commander_flight_height": 80,
"commander_mode_lost_action": 1,
"flight_id": "ABDEAC21DCADDA",
"max_speed": 12,
"rc_lost_action": 0,
"rth_altitude": 100,
"security_takeoff_height": 100,
"target_height": 100,
"target_latitude": 12.23,
"target_longitude": 12.32
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "takeoff_to_point"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: takeoff_to_point
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "takeoff_to_point"
}
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: takeoff_to_point_progress
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| flight_id | 一鍵起飛任務(wù) UUID | text | |
| planned_path_points | 規(guī)劃的軌跡點(diǎn)列表 | array | 指點(diǎn)飛行為什么不要這個(gè)字段 |
| remaining_distance | 剩余任務(wù)距離 | float | {"step":0.1,"unit_name":"米 / m"} |
| remaining_time | 剩余任務(wù)時(shí)間 | float | {"step":0.1,"unit_name":"秒 / s"} |
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
| status | 任務(wù)狀態(tài) | enum_string | {"task_finish":"一鍵起飛任務(wù)完成","task_ready":"準(zhǔn)備起飛","wayline_cancel":"取消飛向目標(biāo)點(diǎn)","wayline_failed":"執(zhí)行失敗","wayline_ok":"執(zhí)行成功，已飛向目標(biāo)點(diǎn)","wayline_progress":"執(zhí)行中"} |
| track_id | 航跡 ID | text | |
| way_point_index | 當(dāng)前執(zhí)行到第幾個(gè)航點(diǎn) | int | 指點(diǎn)飛行為什么不要這個(gè)字段 |
planned_path_points字段：
| Column | Name | Type | Description |
|---|---|---|---|
| height | 目標(biāo)點(diǎn)高度 | float | {"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目標(biāo)點(diǎn)高度（橢球高），使用 WGS84 模型 |
| latitude | 目標(biāo)點(diǎn)緯度 | float | {"max":90,"min":-90} 目標(biāo)點(diǎn)緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點(diǎn)后6位 |
| longitude | 目標(biāo)點(diǎn)經(jīng)度 | float | {"max":180,"min":-180} 目標(biāo)點(diǎn)經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點(diǎn)后6位 |
示例:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"planned_path_points": [
{
"height": 123.234,
"latitude": 13.23,
"longitude": 123.234
}
],
"remaining_distance": 0,
"remaining_time": 0,
"result": 0,
"status": "wayline_ok",
"track_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"way_point_index": 1
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 16540709686556,
"method": "takeoff_to_point_progress"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: fly_to_point
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| fly_to_id | 飛向目標(biāo)點(diǎn) ID | text | |
| max_speed | flyto 的飛行過程中能達(dá)到的最大速度 | int | {"max":15,"min":0,"unit_name":"米每秒 / m/s"} |
| points | flyto 目標(biāo)點(diǎn)列表 | array | 僅支持 1 個(gè)目標(biāo)點(diǎn) |
points字段：
| Column | Name | Type | Description |
|---|---|---|---|
| height | 目標(biāo)點(diǎn)高度 | float | {"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目標(biāo)點(diǎn)高度（橢球高），使用 WGS84 模型 |
| latitude | 目標(biāo)點(diǎn)緯度 | float | {"max":90,"min":-90} 目標(biāo)點(diǎn)緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點(diǎn)后6位 |
| longitude | 目標(biāo)點(diǎn)經(jīng)度 | float | {"max":180,"min":-180} 目標(biāo)點(diǎn)經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點(diǎn)后6位 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"max_speed": 12,
"points": [
{
"height": 100,
"latitude": 12.23,
"longitude": 12.23
}
]
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "fly_to_point"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: fly_to_point
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "fly_to_point"
}
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: fly_to_point_progress
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| fly_to_id | 飛向目標(biāo)點(diǎn) ID | text | |
| remaining_distance | 剩余任務(wù)距離 | float | {"step":0.1,"unit_name":"米 / m"} |
| remaining_time | 剩余任務(wù)時(shí)間 | float | {"step":0.1,"unit_name":"秒 / s"} |
| planned_path_points | 規(guī)劃的軌跡點(diǎn)列表 | array | {"size": -, "item_type": struct} |
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
| status | 狀態(tài) | enum_string | {"wayline_cancel":"取消飛向目標(biāo)點(diǎn)","wayline_failed":"執(zhí)行失敗","wayline_ok":"執(zhí)行成功，已飛向目標(biāo)點(diǎn)","wayline_progress":"執(zhí)行中"} |
| way_point_index | 當(dāng)前執(zhí)行到第幾個(gè)航點(diǎn) | int |
planned_path_points字段：
| Column | Name | Type | Description |
|---|---|---|---|
| height | 目標(biāo)點(diǎn)高度 | float | {"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目標(biāo)點(diǎn)高度（橢球高），使用 WGS84 模型 |
| latitude | 目標(biāo)點(diǎn)緯度 | float | {"max":90,"min":-90} 目標(biāo)點(diǎn)緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點(diǎn)后6位 |
| longitude | 目標(biāo)點(diǎn)經(jīng)度 | float | {"max":180,"min":-180} 目標(biāo)點(diǎn)經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點(diǎn)后6位 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"planned_path_points": [
{
"height": 123.234,
"latitude": 13.23,
"longitude": 123.234
}
],
"remaining_distance": 0,
"remaining_time": 0,
"result": 0,
"status": "wayline_progress",
"way_point_index": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 16540709686556,
"method": "fly_to_point_progress"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: fly_to_point_stop
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "fly_to_point_stop"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: fly_to_point_stop
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "fly_to_point_stop"
}
說明：「一鍵起飛」或「flyto 飛向目標(biāo)點(diǎn)」的過程中，可以通過該命令快速更新目標(biāo)點(diǎn)
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: fly_to_point_update
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| max_speed | 指令飛行過程中能達(dá)到的最大速度 | int | {"max":15,"min":1,"unit_name":"米每秒 / m/s"} | |
| points | 更新的目標(biāo)點(diǎn)列表 | array | {"size": -, "item_type": struct} | 僅支持 1 個(gè)目標(biāo)點(diǎn) |
| ?latitude | 目標(biāo)點(diǎn)緯度 | double | {"max":90,"min":-90} | 目標(biāo)點(diǎn)緯度，角度值，南緯是負(fù)，北緯是正，精度到小數(shù)點(diǎn)后6位 |
| ?longitude | 目標(biāo)點(diǎn)經(jīng)度 | double | {"max":180,"min":-180} | 目標(biāo)點(diǎn)經(jīng)度，角度值，東經(jīng)是正，西經(jīng)是負(fù)，精度到小數(shù)點(diǎn)后6位 |
| ?height | 目標(biāo)點(diǎn)高度 | float | {"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} | 目標(biāo)點(diǎn)高度（橢球高），使用 WGS84 模型 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"max_speed": 12,
"points": [
{
"height": 100,
"latitude": 12.23,
"longitude": 12.23
}
]
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "fly_to_point_update"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: fly_to_point_update
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "fly_to_point_update"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_execute
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| flight_id | 計(jì)劃 ID | text | ||
| file | 航線文件對(duì)象 | struct | ||
| ?url | 文件 URL | text | ||
| ?fingerprint | 文件簽名 | text | 文件內(nèi)容 MD5 簽名 |
示例：
{
"bid": "00000000-0000-0000-0000-000000000000",
"data": {
"file": {
"url": "https://cloud.3g.com.cn/kmz/waypoint_v3_test_file.kmz",
"fingerprint": "MD5"
},
"flight_id": "12345678"
},
"tid": "00000000-0000-0000-0000-000000000000",
"timestamp": 1654070968655,
"method": "flighttask_execute"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_pause
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_pause"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flighttask_pause
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_pause"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_recovery
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_recovery"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flighttask_recovery
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_recovery"
}
Topic:** thing/product/{gateway_sn}/services
Direction: down
Method: flighttask_stop
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| flight_id | 任務(wù)id | text | ||
| reason | 結(jié)束原因 | enum_int | {"0":"正常結(jié)束","1":"另一機(jī)場狀態(tài)機(jī)異常"} |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"reason": 0
},
"method": "flighttask_stop",
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1234567890123
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: flighttask_stop
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"method": "flighttask_stop",
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1695634358385
}
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: flighttask_progress
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| flight_id | 任務(wù) ID | text | ||
| state | 斷點(diǎn)狀態(tài) | enum_int | {"0":"在航段上","1":"在航點(diǎn)上"} | |
| way_point_index | 航線 ID | int |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"way_point_index": 3,
"flight_id": "flight_id",
"state": 1,
},
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "flighttask_progress"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: return_home
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "return_home"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: return_home
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "return_home"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: return_home_cancel
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "return_home_cancel"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: return_home
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "return_home_cancel"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: landing_smart
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "landing_smart"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: return_home
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "landing_smart"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: emergency_stop
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "emergency_stop"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: emergency_stop
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"need_reply": 1,
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "emergency_stop"
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: drc_mode_enter
Data::
| Column | Name | Type | Description |
|---|---|---|---|
| hsi_frequency | HSI 頻率 | int | {"max":30,"min":1,"step":"","unit_name":"赫茲 / Hz"} 設(shè)置 HSI 上報(bào)頻率 |
| mqtt_broker | Broker 連接信息 | struct | 獲取 MQTT 中繼服務(wù)的地址與認(rèn)證信息 |
| osd_frequency | OSD 頻率 | int | {"max":30,"min":1,"step":"","unit_name":"赫茲 / Hz"} 設(shè)置 OSD 上報(bào)頻率 |
mqtt_broker字段：
| Column | Name | Type | Description |
|---|---|---|---|
| address | |||
| client_id | |||
| enable_tls | |||
| expire_time | |||
| password | |||
| username |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"hsi_frequency": 1,
"mqtt_broker": {
"address": "mqtt.dji.com:8883",
"client_id": "sn_a",
"enable_tls": true,
"expire_time": 1672744922,
"password": "jwt_token",
"username": "sn_a_username"
},
"osd_frequency": 10
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drc_mode_enter"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: drc_mode_enter
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drc_mode_enter"
}
進(jìn)入指令飛行模式后允許通過該指令控制飛行器航行方向與速度，發(fā)送的頻率需要保持在5-10hz以內(nèi)讓設(shè)備能夠比較精準(zhǔn)的控制速度變化與方向。
Topic: thing/product/{gateway_sn}/drc/down
Direction: down
Method: drone_control
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| h | 上下方向的速度 | double | {"max":5,"min":-4,"unit_name":"米每秒 / m/s"} 向上向下移動(dòng)的最大速度，負(fù)值表示向下移動(dòng) |
| seq | 命令序號(hào) | int | 遞增的序號(hào)，保證指令順序執(zhí)行。若 x、y、h、w 參數(shù)發(fā)生變化，seq 需要從 0 開始增長。 |
| w | 機(jī)身角速度 | double | {"max":90,"min":-90,"unit_name":"弧度每秒 / rad/s"} 順時(shí)針與逆時(shí)針的最大角速度，負(fù)值表示逆時(shí)針轉(zhuǎn)動(dòng) |
| x | 前進(jìn)后退方向的速度 | double | {"max":17,"min":-17,"unit_name":"米每秒 / m/s"} 前進(jìn)后退的最大速度，負(fù)值表示向后移動(dòng) |
| y | 左右方向的速度 | double | {"max":17,"min":-17,"unit_name":"米每秒 / m/s"} 左右移動(dòng)的最大速度，負(fù)值表示向左移動(dòng) |
Example:
{
"data": {
"h": 2.76,
"seq": 1,
"w": 2.86,
"x": 2.34,
"y": -2.45
},
"method": "drone_control"
}
Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: hsi_info_push
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| around_distances | 周邊的障礙物距離 | array | 水平方向觀察點(diǎn)，分布在[0,360)的角度區(qū)間，0對(duì)應(yīng)機(jī)頭方向正前方，順時(shí)針分布，例如0度為機(jī)頭正前方，90度為飛行器正右方。每個(gè)數(shù)值表示該角度上障礙物與飛行器距離，60000 表示該角度沒有障礙物。若上報(bào)空數(shù)組，意味任意角度都無障礙物。若上報(bào) 4 個(gè)數(shù)據(jù)的數(shù)組，意味該數(shù)據(jù)為 TOF 避障數(shù)據(jù)，在紅外避障失效時(shí)上報(bào)，譬如夜晚場景。 |
| back_enable | 后視避障開關(guān)狀態(tài) | bool | |
| back_work | 后視避障工作狀態(tài) | bool | |
| down_distance | 下方的障礙物距離 | int | {"unit_name":"毫米 / mm"} |
| down_enable | 下視避障開關(guān)狀態(tài) | bool | |
| down_work | 下視避障工作狀態(tài) | bool | |
| front_enable | 前視避障開關(guān)狀態(tài) | bool | |
| front_work | 前視避障工作狀態(tài) | bool | |
| horizontal_enable | 水平避障開關(guān)狀態(tài) | bool | |
| horizontal_work | 水平避障工作狀態(tài) | bool | |
| left_enable | 左視避障開關(guān)狀態(tài) | bool | |
| left_work | 左視避障工作狀態(tài) | bool | |
| right_enable | 右視避障開關(guān)狀態(tài) | bool | |
| right_work | 右視避障工作狀態(tài) | bool | |
| up_distance | 上方的障礙物距離 | int | {"unit_name":"毫米 / mm"} |
| up_enable | 上視避障開關(guān)狀態(tài) | bool | |
| up_work | 上視避障工作狀態(tài) | bool | |
| vertical_enable | 垂直避障開關(guān)狀態(tài) | bool | |
| vertical_work | 垂直避障工作狀態(tài) | bool |
Example:
{
"method": "hsi_info_push",
"timestamp": 1670415891013,
"data": {
"up_distance": 10,
"down_distance": 10,
"around_distance": [
10,
8,
9,
16,
2
],
"up_enable": true,
"up_work": true,
"down_enable": true,
"down_work": true,
"left_enable": true,
"left_work": true,
"right_enable": true,
"right_work": true,
"front_enable": true,
"front_work": true,
"back_enable": true,
"back_work": true,
"vertical_enable": true,
"vertical_work": true,
"horizontal_enable": true,
"horizontal_work": true
}
}
Topic: thing/product/{gateway_sn}/drc/up
Direction: up
Method: osd_info_push
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| attitude_head | 飛行器姿態(tài) head 角 | float | {"unit_name":"度 / °"} 飛行器姿態(tài) head 角 |
| gimbal_pitch | 云臺(tái) pitch 角 | float | {"unit_name":"度 / °"} |
| gimbal_roll | 云臺(tái) roll 角 | float | {"unit_name":"度 / °"} |
| gimbal_yaw | 云臺(tái) yaw 角 | float | {"unit_name":"度 / °"} |
| height | 飛行器高度 | float | {"unit_name":"度 / °"} 飛行器海拔高度 |
| latitude | 飛行器緯度 | float | {"unit_name":"度 / °"} |
| longitude | 飛行器經(jīng)度 | float | {"unit_name":"度 / °"} |
| speed_x | 當(dāng)前飛行器 x 坐標(biāo)方向的速度 | float | {"unit_name":"米每秒 / m/s"} |
| speed_y | 當(dāng)前飛行器 y 坐標(biāo)方向的速度 | float | {"unit_name":"米每秒 / m/s"} |
| speed_z | 當(dāng)前飛行器 z 坐標(biāo)方向的速度 | float | {"unit_name":"米每秒 / m/s"} |
Example:
{
"data": {
"attitude_head": 60,
"gimbal_pitch": 60,
"gimbal_roll": 60,
"gimbal_yaw": 60,
"height": 10,
"latitude": 10,
"longitude": 10,
"speed_x": 10,
"speed_y": 10,
"speed_z": 10
},
"timestamp": 1670415891013
}
Topic: thing/product/{gateway_sn}/drc/down
Direction: down
Method: drone_emergency_stop
Data: null
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drone_emergency_stop"
}
Topic: thing/product/{gateway_sn}/drc/down
Direction: down
Method: heart_beat
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| seq | 命令序號(hào) | int | 遞增的序號(hào)，保證指令順序執(zhí)行 |
| timestamp | 心跳發(fā)送時(shí)間戳 | int | {"unit_name":"毫秒 / ms"} 若超過 1 分鐘未收到業(yè)務(wù)方發(fā)送心跳協(xié)議，設(shè)備將會(huì)認(rèn)為 DRC 鏈路處于空閑退出 DRC 鏈路。 |
Example:
{
"data": {
"seq": 10,
"timestamp": 1670415891013
},
"method": "heart_beat",
"seq": 1
}
Topic: thing/product/{gateway_sn}/services
Direction: down
Method: drc_mode_exit
Data::
Example:**
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drc_mode_exit"
}
Topic: thing/product/{gateway_sn}/services_reply
Direction: up
Method: drc_mode_exit
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 返回碼 | int | 非 0 代表錯(cuò)誤 |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"result": 0
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "drc_mode_exit"
}
Topic: thing/product/{gateway_sn}/property/set
Direction: down
Method: param_set
Data:
| Column | Name | Type | Description |
|---|---|---|---|
| obstacle_avoidance_horizon_enable | 水平避障 | int | |
| obstacle_avoidance_downside_enable | 下避障 | int | |
| obstacle_avoidance_upside_enable | 上避障 | int | |
| rc_lost_action |
Example:
{
"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"data": {
"obstacle_avoidance_horizon_enable": 0,
"obstacle_avoidance_downside_enable": 0,
"obstacle_avoidance_upside_enable": 0,
"rc_lost_action": 0,
},
"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
"timestamp": 1654070968655,
"method": "param_set"
}
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: has
Data:
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| list | hms信息列表 | list |
list字段：
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| args | 產(chǎn)生hms的組件信息 | Struct | ||
| code | hms編碼 | string | ||
| device_type | 設(shè)備編碼 | string | ||
| imminent | 是否緊急 | bool | ||
| in_the_sky | 是否在空中 | bool | ||
| level | 等級(jí) | int | ||
| module | 模塊 |
Example:
{
"bid":"7785a02f-b630-4d1d-be12-36d91520ab7f",
"data":{
"list":[
{
"args":{"component_index":0,"sensor_index":0},
"code":"0x1B080003",
"device_type":"0-89-0",
"imminent":true,
"in_the_sky":false,
"level":2,
"module":3
}
]
},
"tid":"f1e89554-a96e-43a9-926f-b1fe3859675b",
"timestamp":1729504021399,
"from":"1581F6GKB24790040093",
"gateway":"4LGZM7300A01VV",
"method":"hms",
"need_reply":false
}