commit b7e54ec8364e9a6b4f016f0c18f58cf1f1773535
Author: tony19990828 <58881058+tony19990828@users.noreply.github.com>
Date:   Mon Feb 14 20:01:12 2022 +0800

    Create receiver.py

diff --git a/receiver.py b/receiver.py
new file mode 100644
index 0000000..e996438
--- /dev/null
+++ b/receiver.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+# license removed for brevity
+import rospy
+from std_msgs.msg import String
+import paho.mqtt.client as mqtt
+import time
+import numpy as np
+from paho.mqtt.client import ssl
+import sys
+  
+  
+receiveMessanges = []
+
+
+
+def initialise_clients(clientname, user, Password):
+    # callback assignment
+    initialise_client = mqtt.Client(clientname, False)  # don't use clean session
+    initialise_client.username_pw_set(user, Password)
+    # initialise_client.tls_set(cert_reqs=ssl.CERT_NONE)
+
+    initialise_client.tls_set(ca_certs=None, certfile=None, keyfile=None, cert_reqs=ssl.CERT_REQUIRED,
+                              tls_version=ssl.PROTOCOL_TLS,
+                              ciphers=None)
+    initialise_client.tls_insecure_set(True)
+    return initialise_client
+
+def MQTT_Pub(pub_topic, msg, WaitForAck=True):
+    Pubmsg = f"Confirm Order: {msg}"
+    mid = client.publish(pub_topic, Pubmsg, qos=1)[1]
+    if WaitForAck:
+        if mid not in receiveMessanges:
+            print("wait ack")
+    # if status[1] == 15:
+    #     client.disconnect()
+    # print(f"result:{status}")
+    # print(f"Send back the Order{status[1]} was already Confirm")
+
+def on_connect(client, userdata, flags, rc):
+    print("Connected with result code " + str(rc))
+    MQTT_Pub(topic, "ack", True)
+
+def on_disconnect(client, userdata, rc):
+    print("dissconnect")
+
+def on_publish(self, userdata, mid):
+    print("ack")
+    receiveMessanges.append(mid)
+
+    
+
+
+# ROS
+def chatter_callback(message):
+    #get_caller_id(): Get fully resolved name of local node
+    rospy.loginfo(rospy.get_caller_id() + "I heard %s", message.data)   
+    MQTT_Pub(topic, message.data)
+    
+def listener():
+
+    # In ROS, nodes are uniquely named. If two nodes with the same
+    # node are launched, the previous one is kicked off. The
+    # anonymous=True flag means that rospy will choose a unique
+    # name for our 'listener' node so that multiple listeners can
+    # run simultaneously.
+    rospy.init_node('listener', anonymous=True)
+
+    rospy.Subscriber("phone_msg", String, chatter_callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+
+
+
+
+
+
+
+
+
+if __name__ == '__main__':
+    host = "mrf7613cpe6j8.messaging.solace.cloud"
+    port = 8883
+    username = "solace-cloud-client"
+    password = "rd9h3fudcut4j35fvu8938lq1rlab606"
+    topic = "mqtt/sub"
+    client = initialise_clients("client1", username, password)
+    client.connect(host, port, 60)
+    client.on_connect = on_connect
+    client.on_disconnect = on_disconnect
+    client.loop_start()
+    listener()