# -*- coding: utf-8 -*- """ 无人系统控制指令模型 ───────────────────────────────────────────────────────────────── Command 指令基类（dataclass） CommandResult 指令执行结果 CommandType 指令类型枚举（覆盖无人机/机器狗/通用） CommandStatus 指令状态枚举 ───────────────────────────────────────────────────────────────── """ from __future__ import annotations import dataclasses import time import uuid from dataclasses import dataclass, field from enum import Enum from typing import Any, Dict # ───────────────────────────────────────────────────────────────── # 指令类型枚举 # ───────────────────────────────────────────────────────────────── class CommandType(Enum): # ── 通用指令 ────────────────────────────────────────────────── ARM = "arm" # 解锁/上电 DISARM = "disarm" # 加锁/断电 START = "start" # 启动 STOP = "stop" # 停止 PAUSE = "pause" # 暂停 RESUME = "resume" # 恢复 RESET = "reset" # 重置 EMERGENCY_STOP = "emergency_stop" # 紧急停止 SET_MODE = "set_mode" # 设置飞行/运动模式 HEARTBEAT = "heartbeat" # 心跳保活 # ── 运动指令 ────────────────────────────────────────────────── TAKEOFF = "takeoff" # 起飞（无人机） LAND = "land" # 降落（无人机） RTL = "rtl" # 返回起飞点 GOTO = "goto" # 飞往/走往目标点 SET_VELOCITY = "set_velocity" # 设置速度向量 SET_HEADING = "set_heading" # 设置航向 SET_ALTITUDE = "set_altitude" # 设置目标高度 FOLLOW_ROUTE = "follow_route" # 执行预设航线 LOITER = "loiter" # 盘旋/原地待命 # ── 载荷指令 ────────────────────────────────────────────────── PAYLOAD_ON = "payload_on" # 载荷上电 PAYLOAD_OFF = "payload_off" # 载荷断电 CAMERA_SHOOT = "camera_shoot" # 拍照 CAMERA_RECORD = "camera_record" # 录像开关 GIMBAL_CONTROL = "gimbal_control" # 云台控制 # ── 机器狗专有 ──────────────────────────────────────────────── SIT = "sit" # 坐下 STAND = "stand" # 站立 WALK = "walk" # 行走 TROT = "trot" # 小跑 CLIMB_STAIRS = "climb_stairs" # 爬楼梯 SET_GAIT = "set_gait" # 设置步态 # ── 自定义扩展 ──────────────────────────────────────────────── CUSTOM = "custom" # 自定义指令 # ───────────────────────────────────────────────────────────────── # 指令状态枚举 # ───────────────────────────────────────────────────────────────── class CommandStatus(Enum): PENDING = "pending" # 待发送 SENT = "sent" # 已发送，等待确认 ACCEPTED = "accepted" # 设备已接受 EXECUTING = "executing" # 执行中 COMPLETED = "completed" # 执行完成 FAILED = "failed" # 执行失败 TIMEOUT = "timeout" # 超时未响应 REJECTED = "rejected" # 设备拒绝 # ───────────────────────────────────────────────────────────────── # 指令基类 # ───────────────────────────────────────────────────────────────── @dataclass class Command: """ 无人系统控制指令 所有指令均继承此类，通过 params 字典传递指令参数。 子类可新增强类型字段以提升可读性。 """ # ── 标识 ────────────────────────────────────────────────────── command_id: str = field( default_factory=lambda: str(uuid.uuid4())[:8] ) command_type: CommandType = CommandType.CUSTOM target_id: str = "" # 目标设备 ID # ── 参数 ────────────────────────────────────────────────────── params: Dict[str, Any] = field(default_factory=dict) # ── 时序 ────────────────────────────────────────────────────── created_at: float = field(default_factory=time.time) timeout_s: float = 10.0 # 超时时间（秒） priority: int = 0 # 优先级（越大越高） # ── 状态 ────────────────────────────────────────────────────── status: CommandStatus = CommandStatus.PENDING # ── 序列化 ──────────────────────────────────────────────────── def to_dict(self) -> Dict[str, Any]: d = dataclasses.asdict(self) d["command_type"] = self.command_type.value d["status"] = self.status.value return d def __repr__(self) -> str: return (f"Command({self.command_type.value}" f"[{self.command_id}]" f"→{self.target_id}" f" {self.status.value})") # ───────────────────────────────────────────────────────────────── # 常用指令工厂方法 # ───────────────────────────────────────────────────────────────── class Commands: """常用指令快速构造工厂""" @staticmethod def guide(target_id: str): return Command(command_type=CommandType.CUSTOM, target_id=target_id) @staticmethod def arm(target_id: str, **kw) -> Command: return Command(command_type=CommandType.ARM, target_id=target_id, **kw) @staticmethod def disarm(target_id: str, **kw) -> Command: return Command(command_type=CommandType.DISARM, target_id=target_id, **kw) @staticmethod def takeoff(target_id: str, altitude: float, speed: float = 3.0, **kw) -> Command: return Command(command_type=CommandType.TAKEOFF, target_id=target_id, params={"altitude": altitude, "speed": speed}, **kw) @staticmethod def land(target_id: str, **kw) -> Command: return Command(command_type=CommandType.LAND, target_id=target_id, **kw) @staticmethod def rtl(target_id: str, **kw) -> Command: return Command(command_type=CommandType.RTL, target_id=target_id, **kw) @staticmethod def goto(target_id: str, lat: float, lon: float, alt: float, speed: float = 5.0, **kw) -> Command: return Command(command_type=CommandType.GOTO, target_id=target_id, params={"lat": lat, "lon": lon, "alt": alt, "speed": speed}, **kw) @staticmethod def set_velocity(target_id: str, vx: float, vy: float, vz: float = 0.0, **kw) -> Command: return Command(command_type=CommandType.SET_VELOCITY, target_id=target_id, params={"vx": vx, "vy": vy, "vz": vz}, **kw) @staticmethod def emergency_stop(target_id: str, **kw) -> Command: return Command(command_type=CommandType.EMERGENCY_STOP, target_id=target_id, priority=999, **kw) @staticmethod def set_mode(target_id: str, mode: str, **kw) -> Command: return Command(command_type=CommandType.SET_MODE, target_id=target_id, params={"mode": mode}, **kw) @staticmethod def sit(target_id: str, **kw) -> Command: return Command(command_type=CommandType.SIT, target_id=target_id, **kw) @staticmethod def stand(target_id: str, **kw) -> Command: return Command(command_type=CommandType.STAND, target_id=target_id, **kw) @staticmethod def walk(target_id: str, speed: float = 1.0, heading: float = 0.0, **kw) -> Command: return Command(command_type=CommandType.WALK, target_id=target_id, params={"speed": speed, "heading": heading}, **kw) @staticmethod def custom(target_id: str, model: int, **params) -> Command: return Command(command_type=CommandType.CUSTOM, target_id=target_id, params={"model": model, **params}) # ───────────────────────────────────────────────────────────────── # 指令执行结果 # ───────────────────────────────────────────────────────────────── @dataclass class CommandResult: """指令执行结果""" command_id: str = "" command_type: str = "" status: CommandStatus = CommandStatus.PENDING success: bool = False message: str = "" data: Dict[str, Any] = field(default_factory=dict) elapsed_ms: float = 0.0 timestamp: float = field(default_factory=time.time) @classmethod def ok(cls, cmd: Command, message: str = "成功", data: dict = None, elapsed_ms: float = 0.0) -> "CommandResult": return cls( command_id = cmd.command_id, command_type = cmd.command_type.value, status = CommandStatus.COMPLETED, success = True, message = message, data = data or {}, elapsed_ms = elapsed_ms, ) @classmethod def fail(cls, cmd: Command, message: str = "失败", elapsed_ms: float = 0.0) -> "CommandResult": return cls( command_id = cmd.command_id, command_type = cmd.command_type.value, status = CommandStatus.FAILED, success = False, message = message, elapsed_ms = elapsed_ms, ) @classmethod def timeout(cls, cmd: Command) -> "CommandResult": return cls( command_id = cmd.command_id, command_type = cmd.command_type.value, status = CommandStatus.TIMEOUT, success = False, message = f"指令超时（>{cmd.timeout_s}s）", ) def __repr__(self) -> str: mark = "✅" if self.success else "❌" return (f"{mark} CommandResult(" f"{self.command_type}[{self.command_id}] " f"{self.status.value}: {self.message})")