proto and speed test

Stream/localRosData/local_mqtt_pub_data_to_ros.py

@@ -5,13 +5,13 @@ import ssl
 import rospy
 from std_msgs.msg import String
 import paho.mqtt.client as mqtt
-import json
+import orjson
 
 
 # Ros
 def ros_pub(dataJson):
     global publisher, rate
-    # data = json.loads(dataJson)
+    # data = orjson.loads(dataJson)
     publisher.publish(dataJson)     #將date字串發布到topic
     rate.sleep()
     # print(f"publish data {data}")
@@ -25,8 +25,7 @@ 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("data/pub")
+    client.subscribe(mqtt_config["topic"])
 
 
 def on_message(client, userdata, msg):

Stream/localRosData/local_mqtt_sub_data_from_ros.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 #coding:utf-8
 import sys
-import json
+import orjson
 import paho.mqtt.client as mqtt
 
 
@@ -43,7 +43,7 @@ def callBack_gps(GPS):
 def callBack_rng(RNG):
     dataRngUpdate = {"range": RNG.range}
     data.update(dataRngUpdate)
-    dataJsonFormate = json.dumps(data)
+    dataJsonFormate = orjson.dumps(data)
     # print ('range:'+range+'\n')
     print (dataJsonFormate)
     mqtt_Pub(message=dataJsonFormate)