sub all 3 drone

class_model/src/mqttSubMain.py

@@ -27,12 +27,17 @@ def init_dataFormat(cfg:utils.Read_SUB_Config):
         utils.Proto_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Proto_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
     elif cfg.msg_format == "Json":
+        # set ros publisher
         utils.Json_msg_to_ros.rate = rospy.Rate(10)
-        utils.Json_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
         utils.Json_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
-        
-        client.message_callback_add(cfg.Flight_Information_topicToMqtt, utils.Json_msg_to_ros.on_message_Flight_Information)
+        utils.Json_msg_to_ros.Drone550_publisher_Flight_Information = rospy.Publisher(cfg.Dron550_ROStopicName_Flight_Information,String,queue_size=10)
+        utils.Json_msg_to_ros.Drone380_publisher_Flight_Information = rospy.Publisher(cfg.Dron380_ROStopicName_Flight_Information,String,queue_size=10)
+        utils.Json_msg_to_ros.Drone650_publisher_Flight_Information = rospy.Publisher(cfg.Dron650_ROStopicName_Flight_Information,String,queue_size=10)
+        # set callback to each topic
         client.message_callback_add(cfg.Fly_Formation_topicToMqtt, utils.Json_msg_to_ros.on_message_Fly_Formation)
+        client.message_callback_add(cfg.Drone550_Flight_Information_topicToMqtt, utils.Json_msg_to_ros.Drone550_on_message_Flight_Information)
+        client.message_callback_add(cfg.Drone380_Flight_Information_topicToMqtt, utils.Json_msg_to_ros.Drone380_on_message_Flight_Information)
+        client.message_callback_add(cfg.Drone650_Flight_Information_topicToMqtt, utils.Json_msg_to_ros.Drone650_on_message_Flight_Information)
 
         utils.Json_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Json_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
@@ -42,8 +47,10 @@ def init_dataFormat(cfg:utils.Read_SUB_Config):
 
 def on_connect(self, userdata, flags, rc):
     logger.info("Connected with result code " + str(rc))
-    client.subscribe(cfg.Flight_Information_topicToMqtt)
     client.subscribe(cfg.Fly_Formation_topicToMqtt)
+    client.subscribe(cfg.Drone550_Flight_Information_topicToMqtt)
+    client.subscribe(cfg.Drone380_Flight_Information_topicToMqtt)
+    client.subscribe(cfg.Drone650_Flight_Information_topicToMqtt)
 
 def on_disconnect(client, userdata, rc):
     logger.info("disconnecting reason  "  +str(rc))

class_model/src/utils/mqttConfig_SUB.yml

@@ -9,13 +9,22 @@ MQTT:
   lwt: Dron550 Gone Offline
   willRetain: False
   # Mqtt topic
-  Flight_Information_topicToMqtt: Drone550/Flight_Information
   Fly_Formation_topicToMqtt: Drone550/Formation
+  Drone550_Flight_Information_topicToMqtt: Drone550/Flight_Information
+  
+  Drone380_Flight_Information_topicToMqtt: Drone380/Flight_Information
+
+  Drone650_Flight_Information_topicToMqtt: Drone650/Flight_Information
+
   # Change formate qos
   Fly_Formation_topicToMqtt_QOS: 2
 ROS:
   ROSClientNameSub: Drone550Sub
-  ROStopicName_Flight_Information: Flight_Information_reciver
   ROStopicName_Fly_Formation: Fly_Formation_reciver
+  Dron550_ROStopicName_Flight_Information: Dron550_Flight_Information_reciver
+
+  Dron380_ROStopicName_Flight_Information: Dron380_Flight_Information_reciver
+
+  Dron650_ROStopicName_Flight_Information: Dron650_Flight_Information_reciver
 LOG:
   logFileName: sub.log

class_model/src/utils/protoJson_mqtt_pub_data_to_ros.py

@@ -39,18 +39,31 @@ class Proto_msg_to_ros:
 class Json_msg_to_ros:
     rate = None
     #Ros publisher
-    publisher_Flight_Information = None
     publisher_Fly_Formation = None
+    Drone550_publisher_Flight_Information = None
+    Drone380_publisher_Flight_Information = None
+    Drone650_publisher_Flight_Information = None
     #Mqtt topic: check data from which topic
     Flight_Information_topicToMqtt = None
     Fly_Formation_topicToMqtt = None
+
     
     @classmethod
-    def on_message_Flight_Information(cls, client, userdata, msg):
-        cls.publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
+    def on_message_Fly_Formation(cls, client, userdata, msg):
+        cls.publisher_Fly_Formation.publish(msg.payload.decode("UTF-8"))
+        cls.rate.sleep()
+
+    @classmethod
+    def Drone550_on_message_Flight_Information(cls, client, userdata, msg):
+        cls.Drone550_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
+        cls.rate.sleep()
+
+    @classmethod
+    def Drone380_on_message_Flight_Information(cls, client, userdata, msg):
+        cls.Drone380_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
         cls.rate.sleep()
     
     @classmethod
-    def on_message_Fly_Formation(cls, client, userdata, msg):
-        cls.publisher_Fly_Formation.publish(msg.payload.decode("UTF-8"))
+    def Drone650_on_message_Flight_Information(cls, client, userdata, msg):
+        cls.Drone650_publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
         cls.rate.sleep()