From a5f01e297da6c568a06adad0a14b5299c1f1f7f5 Mon Sep 17 00:00:00 2001
From: tony19990828 <58881058+tony19990828@users.noreply.github.com>
Date: Thu, 17 Feb 2022 23:26:03 +0800
Subject: [PATCH] Update local_mqtt_sub_without_ros.py

---
 localTest/local_mqtt_sub_without_ros.py | 69 ++++++++++++++++---------
 1 file changed, 44 insertions(+), 25 deletions(-)

diff --git a/localTest/local_mqtt_sub_without_ros.py b/localTest/local_mqtt_sub_without_ros.py
index b5057b6..041526b 100644
--- a/localTest/local_mqtt_sub_without_ros.py
+++ b/localTest/local_mqtt_sub_without_ros.py
@@ -1,36 +1,55 @@
+#!/usr/bin/env python3
+#coding:utf-8
+# license removed for brevity
 import ssl
-
+import rospy
+from std_msgs.msg import String
 import paho.mqtt.client as mqtt
+import json
 
-
-def on_connect(self, userdata, flags, rc):
-    print("Connected with result code " + str(rc))
-    client.subscribe(topic)
-
-
-def on_message(self, userdata, msg):
-    print(f"msg.topic {msg.payload.decode('utf-8')}")
+mqtt_config = {"host": "192.168.0.48", "port": 1883, "topic": "data/pub"}
+# 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}")
 
 
-def initialise_clients(cname):
+# MQTT
+def initialise_clients(clientname):
     # callback assignment
-    initialise_client = mqtt.Client(cname, True)  # don't use clean session
+    initialise_client = mqtt.Client(clientname, False) 
+    initialise_client.topic_ack = []
     return initialise_client
 
-
-host = "192.168.50.180"
-port = 1883
-topic = "mqtt/pub"
-
-client = initialise_clients("python_sub")
-
-client.on_connect = on_connect
-
-client.on_message = on_message
-
-client.connect(host, port, 60)
-
-client.loop_forever()
+def on_connect(client, userdata, flags, rc):
+    print("Connected with result code " + str(rc))
+    client.subscribe(mqtt_config["topic"])
+
+
+def on_message(client, userdata, msg):
+    print(msg.payload.decode('utf-8'))
+    ros_pub(msg.payload.decode('utf-8'))
+
+if __name__ == '__main__':
+    # Mqtt
+    client = initialise_clients("nano")
+    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 = 'mqtt_msg'
+    publisher = rospy.Publisher(topicName,String,queue_size=10)
+    rate = rospy.Rate(10)
+
+    client.loop_forever()
 
 # mqtt connect code list
 # 0: Connection successful