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70 lines
2.6 KiB
Python
70 lines
2.6 KiB
Python
#!/usr/bin/env python3
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#coding:utf-8
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import paho.mqtt.client as mqtt
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import os
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import sys
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import time
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import utils
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import proto.flight_information_pb2 as flight_information_pb2
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import proto.flyformatioln_pb2 as flyformatioln_pb2
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import rospy
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from std_msgs.msg import String
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def init_dataFormat(cfg):
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if cfg.msg_format == "Proto":
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utils.Proto_msg_to_ros.rate = rospy.Rate(10)
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utils.Proto_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
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utils.Proto_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
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utils.Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
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utils.Proto_msg_to_ros.flyformatioln_msg = flyformatioln_pb2.fly_formation_message()
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client.on_message = utils.Proto_msg_to_ros.on_message
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utils.Proto_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
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utils.Proto_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
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elif cfg.msg_format == "Json":
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utils.Json_msg_to_ros.rate = rospy.Rate(10)
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utils.Json_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
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utils.Json_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
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client.on_message = utils.Json_msg_to_ros.on_message
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utils.Json_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
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utils.Json_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
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else:
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print("msg_format not found")
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# def on_message(client, userdata, msg):
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# utils.Json_msg_to_ros.ros_pub(msg)
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def on_connect(self, userdata, flags, rc):
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print("Connected with result code " + str(rc))
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client.subscribe(cfg.Flight_Information_topicToMqtt)
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def on_publish(self, userdata, mid):
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pass
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if __name__ == '__main__':
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# Read Config
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FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig.yml")
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# Read Config
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cfg = utils.MQTT_ROS_Config(FilePath)
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print(cfg)
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# Mqtt
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client = utils.MQTTClient(cfg.MQTTClientNameSub)
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client.on_connect = on_connect
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client.on_message = utils.Json_msg_to_ros.on_message
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client.on_publish = on_publish
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client.connect(host=cfg.host, port=cfg.port, keepalive=cfg.keepalive)
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# Ros
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rospy.init_node(cfg.ROSClientNameSub)
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# initialize
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init_dataFormat(cfg)
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client.loop_start()
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rospy.spin() |