大疆无人机 MQTT消息定义
公共字段解释
| Column | Name | Type | Description |
|---|---|---|---|
| tid | 事务uuid | text | 事务（Transaction）的 UUID：表征一次简单的消息通信，如：增/删/改/查，云台控制等，可以是： 1. 数据上报请求+数据上报响应 2. 握手认证请求+响应+ack 3.报警事件单向通知等，解决事务多并发和消息匹配的问题 |
| bid | 业务uuid | text | 业务（Business）的 UUID：有些功能不是一次通信就能完成的，包含持续一段时间内的所有交互。 业务通常由多个原子事务组成，且持续时间较长; 例如点播/下载/回放；解决业务多并发和重复请求的问题，便于所有模块的状态机管理。 |
| timestamp | 毫秒时间戳 | int | 消息的发送时间 |
| gateway | 网关设备的序列号 | text | 发送该消息的网关设备的序列号 |
| data | 消息内容 | object | 消息内容 |
osd 结构示例
topic: thing/product/{device_sn}/osd
{ "tid": "65717bf1-aee7-4abb-8ea3-9b1908548d74", "bid": "cf5ad2e6-2f32-4b59-980e-d5c9ee412805", "timestamp": 1667220873846, "data": { "job_number": 492, "acc_time": 1859010, "activation_time": 0, "maintain_status": { "maintain_status_array": [ { "state": 0, "last_maintain_type": 17, "last_maintain_time": 0, "last_maintain_work_sorties": 0 } ] }, "electric_supply_voltage": 231, "working_voltage": 25440, "working_current": 1120, "backup_battery": { "voltage": 26631, "temperature": 27.9, "switch": 1 }, "drone_battery_maintenance_info": { "maintenance_state": 0, "maintenance_time_left": 0 } }, "gateway": "dock_sn" } { "bid": "d6cfcea4-c6ca-439b-948f-b17d88fc308f", "data": { "flighttask_step_code": 255, "media_file_detail": { "remain_upload": 0 }, "wireless_link": { "4g_freq_band": 2.4, "4g_gnd_quality": 0, "4g_link_state": 0, "4g_quality": 0, "4g_uav_quality": 0, "dongle_number": 0, "link_workmode": 0, "sdr_freq_band": 2.4, "sdr_link_state": 0, "sdr_quality": 0 } }, "tid": "e4c15182-776b-4c13-9973-3fc76848ca15", "timestamp": 1667220881576, "gateway": "dock_sn" } { "tid": "43d2e632-1558-4c4e-83d2-eeb51b7a377a", "bid": "7578f2ac-1f12-4d47-9ab6-5de146ed7b8a", "timestamp": 1667220916697, "data": { "network_state": { "type": 2, "quality": 0, "rate": 5.0970001220703125 }, "drone_charge_state": { "state": 0, "capacity_percent": 100 }, "drone_in_dock": 1, "rainfall": 0, "wind_speed": 0, "environment_temperature": 24, "temperature": 24.9, "humidity": 62, "latitude": 22.907809968, "longitude": 113.703482143, "height": 34.174125671386719, "alternate_land_point": { "latitude": 22.907898319908661, "longitude": 113.70347329676635, "safe_land_height": 0, "is_configured": 1 }, "first_power_on": 1631945855969, "position_state": { "is_calibration": 1, "is_fixed": 2, "quality": 5, "gps_number": 6, "rtk_number": 25 }, "storage": { "total": 82045336, "used": 51772 }, "mode_code": 1, "cover_state": 0, "supplement_light_state": 0, "emergency_stop_state": 0, "air_conditioner_mode": 0, "battery_store_mode": 1, "alarm_state": 0, "putter_state": 0, "sub_device": { "device_sn": "1581F5BKD225D00BP891", "device_model_key": "0-67-0", "device_online_status": 0, "device_paired": 1 } }, "gateway": "dock_sn" } #state 结构示例
topic: thing/product/{device_sn}/state
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "gateway":"sn", "data":{} } #services 结构示例
topic: thing/product/{gateway_sn}/services
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "gateway":"sn", "method": "some_method", "data": {} } #services_reply 结构示例
#data中必填字段解释
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 设备响应的结果码 | int | 非 0 代表错误 | |
| output | 设备消息内容 | struct | 设备响应服务端命令的消息内容 |
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "gateway":"sn", "method": "some_method", "data": { "result": 0, "output": {} } } #events 结构示例
topic: thing/product/{gateway_sn}/events
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| need_reply | 服务端是否需要答复 | int | 服务端收到设备的events事件上报消息后，跟进need_reply来判断是否给予收到答复;0代表不需要，1代表需要 |
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "need_reply": 0, "gateway":"sn", "method": "some_method", "data": {} } #events_reply 结构示例
topic: thing/product/{gateway_sn}/events_reply
#data中必填字段解释
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 服务端响应的结果码 | int | 非 0 代表错误 |
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "gateway":"sn", "method": "some_method", "data": { "result": 0 } } #requests 结构示例
topic: thing/product/{gateway_sn}/requests
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "gateway":"sn", "method": "some_method", "data": {} } #requests_reply 结构示例
topic: thing/product/{gateway_sn}/requests_reply
#data中必填字段解释
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 服务端响应的结果码 | int | 非 0 代表错误 | |
| output | 服务消息内容 | struct | 服务端响应设备的消息内容 |
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "gateway":"sn", "method": "some_method", "data": { "result": 0, "output":{} } } #status 结构示例
topic: sys/product/{gateway_sn}/status
## 网关设备+子设备上线 { "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx", "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx", "method": "update_topo", "timestamp": 1234567890123, "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 } ] } } ## 子设备下线 { "tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx", "bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx", "method": "update_topo", "timestamp": 1234567890123, "data": { "type": 98, "sub_type": 0, "device_secret":"secret", "nonce":"nonce", "version": 1, "sub_devices":[] } } #status_reply 结构示例
topic: sys/product/{gateway_sn}/status_reply
#data中必填字段解释
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 结果码 | int | 非0代表错误 |
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "method": "update_topo", "data": { "result": 0 } } #property set 结构示例
topic: thing/product/{gateway_sn}/property/set
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| some_property | 需要修改的属性key | string | 参考设备管理-设备属性设置 设备属性是否可以被修改，在设备属性章节通过“accessMode”标识符号判断，accessMode = rw 表示可被读写。 | |
| some_value | 需要修改的属性value | string/int/float | 参考对应的设备属性 |
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "data": { "some_property": some_value } } #property set_reply 结构示例
topic: thing/product/{gateway_sn}/property/set_reply
#data中必填字段解释
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| some_property | 需要修改的属性key | string | 参考设备管理-设备属性设置 设备属性是否可以被修改，在设备属性章节通过“accessMode”标识符号判断，accessMode = rw 表示可被读写。 | |
| result | 对应属性的设置结果 | int | 0: 成功，1：失败，2：超时，其他参考错误码解释 |
{ "tid":"6a7bfe89-c386-4043-b600-b518e10096cc", "bid":"42a19f36-5117-4520-bd13-fd61d818d52e", "timestamp": 1598411295123, "data": { "some_property": { "result": 0 // 0: 成功，1：失败，2：超时，其他参考错误码解释 } } } #drc up 结构示例
topic: thing/product/{gateway_sn}/drc/up
#data中必填字段解释
| Column | Name | Type | constraint | Description |
|---|---|---|---|---|
| result | 服务端响应的结果码 | int | 非 0 代表错误 | |
| output | 服务消息内容 | struct | 服务端响应设备的消息内容 |
{ "method": "drone_control", "data": { "result": 0, "output": { "seq": 1 } } } #drc down 结构示例
topic: thing/product/{gateway_sn}/drc/down
{ "method": "drone_control", "data": { "seq": 1, "x": 2.34, "y": -2.45, "h": 2.76, "w": 2.86 } }
