From a3a9c8a17a0254879a175ceef697d850c5cde653 Mon Sep 17 00:00:00 2001 From: Xuan0319 Date: Sat, 25 Mar 2023 00:59:07 +0800 Subject: [PATCH] fix mqtt --- class_model/src/mqttPubMain5.py | 4 ++-- class_model/src/utils/protoJson_mqtt_sub_data_from_ros.py | 2 +- class_model/src/utils/readConfig.py | 2 +- class_model/src/utils/uavlinkConfig_PUB.yml | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/class_model/src/mqttPubMain5.py b/class_model/src/mqttPubMain5.py index 83580b0..2e1e000 100755 --- a/class_model/src/mqttPubMain5.py +++ b/class_model/src/mqttPubMain5.py @@ -77,8 +77,8 @@ if __name__ == '__main__': logger.setLevel(logging.INFO) logger.addHandler(file_handler) logger.addHandler(stream_handler) - # logger.info(cfg) - print(cfg.keepalive) + logger.info(cfg) + print(cfg.msg_format) # Mqtt client.on_connect = on_connect diff --git a/class_model/src/utils/protoJson_mqtt_sub_data_from_ros.py b/class_model/src/utils/protoJson_mqtt_sub_data_from_ros.py index 97411b1..6953eb5 100644 --- a/class_model/src/utils/protoJson_mqtt_sub_data_from_ros.py +++ b/class_model/src/utils/protoJson_mqtt_sub_data_from_ros.py @@ -95,7 +95,7 @@ class Json_msg_from_ros: Formation_data = {"velocity": Formation.velocity, "type": Formation.type} flyFormationMsg = orjson.dumps(Formation_data) cls.mqtt_Pub(message=flyFormationMsg, topics=cls.Fly_Formation_topicToMqtt, qos=cls.Fly_Formation_topicToMqtt_QOS) - + print(flyFormationMsg) @classmethod def mqtt_Pub(cls, message:str, topics:str, waitForAck:bool=False, qos:int=0): mid = cls.client.publish(topics, message, qos)[1] diff --git a/class_model/src/utils/readConfig.py b/class_model/src/utils/readConfig.py index b7615f5..ed67b3a 100644 --- a/class_model/src/utils/readConfig.py +++ b/class_model/src/utils/readConfig.py @@ -62,7 +62,7 @@ class Read_PUB_Config(Config): self.sectionNames[2]:{ "logFileName":(str,True)}, self.sectionNames[3]:{ - "msg_format": (str,False), + "uavlink_msg_format": (str,False), "uav_id": (str,False), "baudrate": (int,False), "ttyport": (str,False)}} diff --git a/class_model/src/utils/uavlinkConfig_PUB.yml b/class_model/src/utils/uavlinkConfig_PUB.yml index 25b9616..334ec53 100644 --- a/class_model/src/utils/uavlinkConfig_PUB.yml +++ b/class_model/src/utils/uavlinkConfig_PUB.yml @@ -1,5 +1,5 @@ UAVLINK: - msg_format: Proto + uavlink_msg_format: Proto uav_id: \x01\x01 baudrate: 250000 ttyport: /dev/ttyUSB0