From 4c717a6cc7012b42e5551dc303f371136f0ed9c4 Mon Sep 17 00:00:00 2001
From: tony19990828 <58881058+tony19990828@users.noreply.github.com>
Date: Thu, 24 Feb 2022 15:32:16 +0800
Subject: [PATCH] Update local_mqtt_pub_data_to_ros.py

---
 localRosData/local_mqtt_pub_data_to_ros.py | 22 ++++++++++++++--------
 1 file changed, 14 insertions(+), 8 deletions(-)

diff --git a/localRosData/local_mqtt_pub_data_to_ros.py b/localRosData/local_mqtt_pub_data_to_ros.py
index 2ca8678..55f4b33 100644
--- a/localRosData/local_mqtt_pub_data_to_ros.py
+++ b/localRosData/local_mqtt_pub_data_to_ros.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #coding:utf-8
 # license removed for brevity
 import ssl
@@ -13,10 +13,9 @@ def ros_pub(dataJson):
     global publisher, rate
     # data = json.loads(dataJson)
     publisher.publish(dataJson)     #將date字串發布到topic
-    rate.sleep();
+    rate.sleep()
     # print(f"publish data {data}")
 
-
 # MQTT
 def initialise_clients(clientname):
     # callback assignment
@@ -26,29 +25,36 @@ def initialise_clients(clientname):
 
 def on_connect(client, userdata, flags, rc):
     print("Connected with result code " + str(rc))
-    client.subscribe(mqtt_config["topic"])
+    # client.subscribe(mqtt_config["topic"])
+    client.subscribe("data/pub")
 
 
 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": "127.0.0.1", "port": 1883, "topic": "data/pub"}
-    client = initialise_clients("client1")
+    mqtt_config = {"host": "192.168.100.157", "port": 1883, "topic": "data/pub"}
+    client = initialise_clients("123456")
     client.on_connect = on_connect
+    client.on_message = on_message
     client.connect(mqtt_config["host"], mqtt_config["port"], 60)
-    client.loop_start()
 
+
+    
     # Ros
     Mqtt_Node = 'publisher_py'
     rospy.init_node(Mqtt_Node)
     # initialize Ros node
-    topicName = 'phone_msg'
+    topicName = 'uav_message'
     publisher = rospy.Publisher(topicName,String,queue_size=10)
     rate = rospy.Rate(10)
 
+
+
     client.loop_forever()
 
 # mqtt connect code list