From 9bf94dd68d2f7d651c7b04530c4e69af88b982ec Mon Sep 17 00:00:00 2001
From: tony <58881058+RangeOfGlitching@users.noreply.github.com>
Date: Mon, 30 May 2022 17:40:19 +0800
Subject: [PATCH] Update command.py

---
 1toN/command.py | 48 +++++++++++++++++++++++-------------------------
 1 file changed, 23 insertions(+), 25 deletions(-)

diff --git a/1toN/command.py b/1toN/command.py
index 9fa8ff4..d595f9a 100644
--- a/1toN/command.py
+++ b/1toN/command.py
@@ -1,25 +1,26 @@
 # #!/usr/bin/env python3
 # #coding:utf-8
-# # license removed for brevity
-# import paho.mqtt.client as mqtt
-# import ssl
-# import rospy
+# license removed for brevity
+import paho.mqtt.client as mqtt
+import ssl
+import rospy
 from std_msgs.msg import String
 import paho.mqtt.client as mqtt
 import json
 
-# # Ros
-# def ros_pub(dataJson):
-#     global publisher, rate
-#     # data = json.loads(dataJson)
-#     publisher.publish(dataJson)     #將date字串發布到topic
-#     rate.sleep()
-#     # print(f"publish data {data}")
+
+ # Ros
+def ros_pub(dataJson):
+    global publisher, rate
+    # data = json.loads(dataJson)
+    publisher.publish(dataJson)     #將date字串發布到topic
+    rate.sleep()
+    # print(f"publish data {data}")
 
 # MQTT
 def on_connect(self, userdata, flags, rc):
     print("Connected with result code " + str(rc))
-    client.subscribe(topicBroadcast)
+    client.subscribe("cmd/broadcast")
 
 
 def on_message(self, userdata, msg):
@@ -28,31 +29,28 @@ def on_message(self, userdata, msg):
     ros_pub(msg.payload.decode('utf-8'))
 
 
-
 def initialise_clients(clientName):
     # callback assignment
     initialise_client = mqtt.Client(clientName, False)
     initialise_client.topic_ack = []
     return initialise_client
 
+
 if __name__ == '__main__':
     # Mqtt
-    mqtt_config = {"host": "192.168.100.157", "port": 1883, "topic": "cmd/broadcast"}
+    mqtt_config = {"host": "192.168.50.109", "port": 1883, "topic": "cmd/broadcast"}
     client = initialise_clients("receiver")
     client.on_connect = on_connect
     client.on_message = on_message
     client.connect(mqtt_config["host"], mqtt_config["port"], 60)
 
-
-    
-    # # Ros
-    # Mqtt_Node = 'publisher_py'
-    # rospy.init_node("cmd_receiver")
-    # # initialize Ros node
-    # topicName = 'uav_command'
-    # publisher = rospy.Publisher(topicName,String,queue_size=10)
-    # rate = rospy.Rate(10)
-
-
+    # Ros
+    Mqtt_Node = 'publisher_py'
+    rospy.init_node("cmd_receiver")
+    # initialize Ros node
+    topicName = 'uav_command'
+    publisher = rospy.Publisher(topicName,String,queue_size=10)
+    rate = rospy.Rate(10)
 
     client.loop_forever()
+