01-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1开始) 示例：` { "type": 6,"value": 1}`

01-下发任务

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