mqtt服务地址:10.10.60.237(sri内网测试服务器)
mqtt服务端口:41883
mqtt话题:Vehicle/ControlVehicle/Veh001
mqtt消息注释(json字符串):
{
'baseControl': [
{
'directSwitch': 1,
'eStop': 1,
'gearCaontrol': 1,
'hazardLight': 1,
'keyStatus': 0,
'parkControl': 1,
'silencedAlarm': 2,
'travelLight': 2,
'travelMode': 1,
'vehicleHorn': 2
}
],
'driveControl': [
{
'accPedal': [
{
'accPedalF': 2000,
'accPedalH': 2000
}
],
'brakePedal': 0,
'steeringWheel': 200,
'turnMode': 15,
'turnSignal': 0
}
],
'errCode': [
{
'errAccPedal': 0,
'errBasOperation': 0,
'errBrakePedal': 1,
'errEndTool': 0,
'errHandle': 0,
'errOther': 0,
'errSteeringWheel': 1
}
],
'taskControl': [
{
'baseLegControl': 3000,
'baseLegSwitch': 8,
'bypassSwitch': 1,
'cabLift': 1,
'coopSignal': 1,
'enableHydraulic': 1,
'endJoint': 100,
'esCabLift': 0,
'suckerSelect': 0,
'taskJoint_1': 150,
'taskJoint_2': 180,
'taskJoint_3': 210,
'toolControl': 200,
'workLight': 1
}
],
'timestamp': '1729044838985',
'VehicleID': 10101089,
'cockpitID': 10101073,
'userID': 'aabbccddeeffgg'
}