02-下发任务

任务类型（mode类型）

0:即时任务
示例：{"name":"task1","mode":0,"loop":10,"minute":null,"hour":null,"opt":null,"actions":[{"type":5,"value":["1","2","3"]}]}

1:定时任务
示例：{"name":"task1","mode":1,"loop":10,"minute":[35],"hour":[16],"opt":null,"actions":[{"type":5,"value":["1","2","3"]}]}

2:每周定时任务(周天为0，周一为1，...，周六为6)
示例：

{"name":"task1","mode":2,"loop":10,"minute":[35],"hour":[16],"opt":[0,1,2,5,6],"actions":[{"type":5,"value":["1","2","3"]}]}

3:每月定时任务(1-31代表每月的第几天)
示例：

{"name":"task1","mode":3,"loop":10,"minute":[35],"hour":[16],"opt":[1,2,3,31],"actions":[{"type":5,"value":["1","2","3"]}]}

动作类型（actions动作列表）

1:自由点
type动作类型，value自由点列表([{"点1":[x1, y1, theta1]}, {"点2":[x2, y2, theta2]}, ...], 其中x、y为点在地图中坐标，单位m，theta为朝向，单位rad)
示例：

{"type":1,"value":[{"1":[1.2464645247251578,4.9575624326841705,-0.3868831688666099]},{"2":[2.2172648606322336,1.2749412076809263,-0.3383879987119119]}]}

2:充电
type动作类型，value为是否回充(true：回充)
示例： { "type": 2,"value": true}

3:轨迹
type动作类型，value表示轨迹信息({"reverse": false, "name": "1", points: [[x1, y1, theta1], [x2, y2, theta2]]}，其中reverse代表是否逆序，name为名称，points为点位列表)
示例：

 {"type": 3, "value": {"reverse": false, "name": "1",  points:[[1.2464645247251578,4.9575624326841705,-0.3868831688666099], [2.2172648606322336,1.2749412076809263,-0.3383879987119119]]}}

4:等待动作
type动作类型，value等待信息({"time": 10, "angular": 0},time等待时长，单位s，angular旋转速度，单位rad)
示例： {"type": 4, "value": {"time": 10, "angular": 0}}

5:拓扑站点
type动作类型，value站点名称列表
示例： {"type": 5, "value": ["1", "2", "3"]}

6:IO动作
type动作类型，value表示IO动作序号(从0开始)
示例： { "type": 6,"value": 1}

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