remove two topic mqtt file and replace json with orjson

class_model/src/MQTT_Pub_message.py

@@ -1,70 +0,0 @@
-#!/usr/bin/env python3
-#coding:utf-8
-# license removed for brevity
-import ssl
-import rospy
-from std_msgs.msg import String
-import paho.mqtt.client as mqtt
-import json
-
-
-# Ros
-def ros_pub(dataJson):
-    global publisher, rate
-    # data = json.loads(dataJson)
-    publisher.publish(dataJson)     #將date字串發布到topic
-    rate.sleep()
-    # print(f"publish data {data}")
-
-# MQTT
-def initialise_clients(clientname):
-    # callback assignment
-    initialise_client = mqtt.Client(clientname, False) 
-    initialise_client.topic_ack = []
-    return initialise_client
-
-def on_connect(client, userdata, flags, rc):
-    print("Connected with result code " + str(rc))
-    # client.subscribe(mqtt_config["topic"])
-    client.subscribe("data/formation")
-
-
-def on_message(client, userdata, msg):
-    # print(f"got {msg.payload.decode('utf-8')}")
-    # print(f"msg.topic {msg.payload.decode('utf-8')}")
-    ros_pub(msg.payload.decode('utf-8'))
-    
-
-
-if __name__ == '__main__':
-    # Mqtt
-    mqtt_config = {"host": "192.168.50.27", "port": 1883, "topic": "data/formation"}
-     
-    client = initialise_clients("command")
-    client.on_connect = on_connect
-    client.on_message = on_message
-    client.connect(mqtt_config["host"], mqtt_config["port"], 60)
-
-
-    
-    # Ros
-    Mqtt_Node = 'publisher_message_py'
-    rospy.init_node(Mqtt_Node)
-    # initialize Ros node
-    topicName = 'formation_message'
-    publisher = rospy.Publisher(topicName,String,queue_size=10)
-
-    rate = rospy.Rate(10)
-
-
-
-    client.loop_forever()
-
-# mqtt connect code list
-# 0: Connection successful
-# 1: Connection refused – incorrect protocol version
-# 2: Connection refused – invalid client identifier
-# 3: Connection refused – server unavailable
-# 4: Connection refused – bad username or password
-# 5: Connection refused – not authorised
-# 6-255: Currently unused.

class_model/src/MQTT_sub_message.py

@@ -1,85 +0,0 @@
-#!/usr/bin/env python3
-#coding:utf-8
-import sys
-import json
-import paho.mqtt.client as mqtt
-
-
-from traceback import print_tb
-import rospy
-from std_msgs.msg import String
-from std_msgs.msg import Float64
-from std_msgs.msg import Header
-from mavros_msgs.srv import ParamGet
-from sensor_msgs.msg import NavSatFix
-from sensor_msgs.msg import Imu
-from sensor_msgs.msg import Range
-from geometry_msgs.msg import Vector3
-
-mqtt_config = {"host": "192.168.50.27", "port": 1883, "topic": "data/formation"}
-data ={}
-# Ros
-    
-def callBack_message(command):
-
-    dataUpdate = {"message": command.data}
-    data.update(dataUpdate)
-    dataJsonFormate = json.dumps(data)
-    mqtt_Pub(message=dataJsonFormate)
-
-
-# MQTT
-def initialise_clients(clientname):
-    # callback assignment
-    initialise_client = mqtt.Client(clientname, False) 
-    initialise_client.topic_ack = []
-    return initialise_client
-
-
-# publish a message
-def mqtt_Pub(message, topics = mqtt_config["topic"], waitForAck=False):
-    mid = client.publish(topics, message, 0)[1]
-    print(f"just published {message} to topic")
-    if waitForAck:
-        while mid not in client.topic_ack:
-            print("wait for ack")
-            time.sleep(0.25)
-        client.topic_ack.remove(mid)
-
-def on_publish(self, userdata, mid):
-    client.topic_ack.append(mid)
-
-def on_connect(self, userdata, flags, rc):
-    print("Connected with result code " + str(rc))
-
- 
-if __name__ == '__main__':
-    # Mqtt
-    client = initialise_clients("client1")
-    client.on_publish = on_publish
-    client.on_connect = on_connect
-    client.connect(mqtt_config["host"], mqtt_config["port"], 60)
-    client.loop_start()
-
-    # Ros
-    nodeName = 'message_py'
-    rospy.init_node(nodeName)
-
-    ros_namespace = ""
-    if  not rospy.has_param("namespace"):
-        print("using default namespace")
-    else:
-        rospy.get_param("namespace", ros_namespace)
-        print("using namespace "+ros_namespace)
-	
-    ros_namespace="/drone1"
-
-    subscriber = rospy.Subscriber("/mavros/next_command",String,callBack_message)
-    #subscriber = rospy.Subscriber(ros_namespace+'/mavros/mavros_msgs/State',Header,callBack_state)
-    # ID = rospy.get_param(ros_namespace+'/leader/droneID')
-    # subscriber = rospy.Subscriber('/mavros/rangefinder/rangefinder',Range,callBack_rng)  #從topic獲取string再呼叫callback
-
-    # ID = rospy.GetParam("droneID")
-    # print(ID)
-
-    rospy.spin()

class_model/src/local_mqtt_pub_data_to_ros.py

@@ -5,8 +5,7 @@ import ssl
 import rospy
 from std_msgs.msg import String
 import paho.mqtt.client as mqtt
-import json
-# import json_transport 
+
 
 
 # Ros

class_model/src/local_mqtt_sub_data_from_ros.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 #coding:utf-8
 import sys
-import json
+import orjson
 import paho.mqtt.client as mqtt
 
 
@@ -41,7 +41,7 @@ def callBack_gps(GPS):
     alt=int(GPS.altitude*100)
     dataGpsUpdate = {"lat": lat, "lon": lon, "alt": alt}
     data.update(dataGpsUpdate)
-    # dataJsonFormate = json.dumps(data)
+    # dataJsonFormate = orjson.dumps(data)
     # mqtt_Pub(message=dataJsonFormate)
     # print ('lat:'+lat+'\n'+'lon:'+lon+'\n')
 
@@ -50,7 +50,7 @@ def callBack_compass_hdg(Compass):
     heading = int(Compass.data*100)
     dataGpsUpdate = {"heading": heading}
     data.update(dataGpsUpdate)
-    dataJsonFormate = json.dumps(data)
+    dataJsonFormate = orjson.dumps(data)
     mqtt_Pub(message=dataJsonFormate)
 
 def callBack_state(state):