fix mqtt

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)
+    logger.info(cfg)
-    print(cfg.keepalive)
+    print(cfg.msg_format)
 
     # Mqtt
     client.on_connect = on_connect

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]

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)}}

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