specify the callback function to each topic

class_model/src/mqttCmdMain.py

@@ -21,7 +21,7 @@ def init_dataFormat(cfg:Read_CMD_Config):
     elif cfg.msg_format == "Proto":
         pass
     else:
-        logging.debug("msg_format not found")
+        logger.debug("msg_format not found")
 
 def on_connect(self, userdata, flags, rc):
     logger.info("Connected with result code " + str(rc))

class_model/src/mqttSubMain.py

@@ -21,7 +21,8 @@ def init_dataFormat(cfg:utils.Read_SUB_Config):
         utils.Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
         utils.Proto_msg_to_ros.flyformatioln_msg = flyformatioln_pb2.fly_formation_message()
         
-        client.on_message = utils.Proto_msg_to_ros.on_message
+        client.message_callback_add(cfg.Flight_Information_topicToMqtt, utils.Proto_msg_to_ros.on_message_Flight_Information)
+        client.message_callback_add(cfg.Fly_Formation_topicToMqtt, utils.Proto_msg_to_ros.on_message_Fly_Formation)
 
         utils.Proto_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Proto_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
@@ -30,7 +31,9 @@ def init_dataFormat(cfg:utils.Read_SUB_Config):
         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.on_message = utils.Json_msg_to_ros.on_message
+        client.message_callback_add(cfg.Flight_Information_topicToMqtt, utils.Json_msg_to_ros.on_message_Flight_Information)
+        client.message_callback_add(cfg.Fly_Formation_topicToMqtt, utils.Json_msg_to_ros.on_message_Fly_Formation)
+
         utils.Json_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Json_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
     else:
@@ -43,7 +46,7 @@ def on_connect(self, userdata, flags, rc):
     client.subscribe(cfg.Fly_Formation_topicToMqtt)
 
 def on_disconnect(client, userdata, rc):
-    # logger.info("disconnecting reason  "  +str(rc))
+    logger.info("disconnecting reason  "  +str(rc))
     client.connected_flag=False
     client.disconnect_flag=True
 

class_model/src/utils/protoJson_mqtt_pub_data_to_ros.py

@@ -20,27 +20,20 @@ class Proto_msg_to_ros:
     Fly_Formation_topicToMqtt = None
 
     #Proto
-
     @classmethod
-    def ros_pub(cls, dataProto):
-        if dataProto.topic == cls.Flight_Information_topicToMqtt:
-            proto_msg = cls.flight_information_msg.FromString(dataProto.payload)
+    def on_message_Flight_Information(cls, client, userdata, msg):
+        proto_msg = cls.flight_information_msg.FromString(msg.payload)
         protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True, use_integers_for_enums=True)
         cls.publisher_Flight_Information.publish(protoTOJson_msg)
         cls.rate.sleep()
-        elif dataProto.topic == cls.Fly_Formation_topicToMqtt:
-            proto_msg = cls.fly_formation_msg.FromString(dataProto.payload)
+
+    @classmethod
+    def on_message_Fly_Formation(cls, client, userdata, msg):
+        proto_msg = cls.fly_formation_msg.FromString(msg.payload)
         # protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
         protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True, use_integers_for_enums=True)
         cls.publisher_Fly_Formation.publish(protoTOJson_msg)
         cls.rate.sleep()
-        else:
-            print("topic not found")
-            
-
-    @staticmethod
-    def on_message(client, userdata, msg):
-        Proto_msg_to_ros.ros_pub(msg)
     
 
 class Json_msg_to_ros:
@@ -53,17 +46,11 @@ class Json_msg_to_ros:
     Fly_Formation_topicToMqtt = None
     
     @classmethod
-    def ros_pub(cls, dataJson):
-        if dataJson.topic == cls.Flight_Information_topicToMqtt:
-            cls.publisher_Flight_Information.publish(dataJson.payload.decode("UTF-8"))
+    def on_message_Flight_Information(cls, client, userdata, msg):
+        cls.publisher_Flight_Information.publish(msg.payload.decode("UTF-8"))
         cls.rate.sleep()
-        elif dataJson.topic == cls.Fly_Formation_topicToMqtt:
-            cls.publisher_Fly_Formation.publish(dataJson.payload.decode("UTF-8"))
-            cls.rate.sleep()
-        else:
-            print("topic not found")
-            
     
-    @staticmethod
-    def on_message(client, userdata, msg):
-        Json_msg_to_ros.ros_pub(msg)
+    @classmethod
+    def on_message_Fly_Formation(cls, client, userdata, msg):
+        cls.publisher_Fly_Formation.publish(msg.payload.decode("UTF-8"))
+        cls.rate.sleep()