From b498146609f861a71f7c3d0231554b0050407a40 Mon Sep 17 00:00:00 2001
From: tony <58881058+RangeOfGlitching@users.noreply.github.com>
Date: Mon, 30 May 2022 16:26:14 +0800
Subject: [PATCH] Create command.py

---
 Stream/localRosData/command.py | 58 ++++++++++++++++++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100644 Stream/localRosData/command.py

diff --git a/Stream/localRosData/command.py b/Stream/localRosData/command.py
new file mode 100644
index 0000000..9fa8ff4
--- /dev/null
+++ b/Stream/localRosData/command.py
@@ -0,0 +1,58 @@
+# #!/usr/bin/env python3
+# #coding:utf-8
+# # 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}")
+
+# MQTT
+def on_connect(self, userdata, flags, rc):
+    print("Connected with result code " + str(rc))
+    client.subscribe(topicBroadcast)
+
+
+def on_message(self, userdata, msg):
+    msg = msg.payload.decode('utf-8')
+    print(f"msg.topic {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"}
+    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)
+
+
+
+    client.loop_forever()