up to date

Stream/measure_rtl/delayClientA_PUB.py

@@ -5,7 +5,7 @@ import os
 import sys
 import time
 import utils
-
+import argparse
 import proto.flyformatioln_pb2 as flyformatioln_pb2
 import logging
 from utils.protoJson_delayClientA_PUB import Json_msg
@@ -41,9 +41,22 @@ def on_publish(self, userdata, mid):
 
 if __name__ == '__main__':
     time.sleep(0.25)
+    
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-q", "--qos", type=int, help="qos")
+    parser.add_argument("-p", "--port", type=int, help="port")
+    parser.add_argument("-f", "--format", type=str, help="format")
+    args = parser.parse_args()
     # Read Config
     FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_delayA_PUB.yml")
     cfg = utils.Read_delayA_PUB_Config(FilePath)
+    
+    if args.qos != None:
+        cfg.qos = args.qos
+    if args.port != None:
+        cfg.port = args.port
+    if args.format != None:
+        cfg.msg_format = args.format
     # Mqtt
     client = utils.MQTTClient(cfg.MQTTClientNamePub)
     pubFun = None

Stream/measure_rtl/delayClientA_SUB.py

@@ -9,7 +9,7 @@ import logging
 import utils
 from utils.protoJson_delayClientA_SUB import Json_msg
 from utils.protoJson_delayClientA_SUB import Proto_msg
-
+import argparse
 
 def init_dataFormat(cfg:utils.Read_delayB_SUB_Config):
     if cfg.msg_format == "Proto":
@@ -35,11 +35,22 @@ def on_publish(self, userdata, mid):
     pass
 
 if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-q", "--qos", type=int, help="qos")
+    parser.add_argument("-p", "--port", type=int, help="port")
+    parser.add_argument("-f", "--format", type=str, help="format")
+    args = parser.parse_args()
     # Read Config
     FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_delayA_SUB.yml")
     cfg = utils.Read_delayA_SUB_Config(FilePath)
     client = utils.MQTTClient(cfg.MQTTClientNameSub)
-
+    
+    if args.qos != None:
+        cfg.qos = args.qos
+    if args.port != None:
+        cfg.port = args.port
+    if args.format != None:
+        cfg.msg_format = args.format
 
     init_dataFormat(cfg)
     # set log

Stream/measure_rtl/delayClientB.py

@@ -3,6 +3,7 @@
 import paho.mqtt.client as mqtt
 import os
 import sys
+import argparse
 import utils
 import proto.flight_information_pb2 as flight_information_pb2
 import proto.flyformatioln_pb2 as flyformatioln_pb2
@@ -44,11 +45,25 @@ def on_publish(self, userdata, mid):
 
 
 if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-q", "--qos", type=int, help="qos")
+    parser.add_argument("-p", "--port", type=int, help="port")
+    parser.add_argument("-f", "--format", type=str, help="format")
+    args = parser.parse_args()
+    
     # Read Config
     FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_delayB_SUB.yml")
     cfg = utils.Read_delayB_SUB_Config(FilePath)
+    
+    if args.qos != None:
+        cfg.qos = args.qos
+    if args.port != None:
+        cfg.port = args.port
+    if args.format != None:
+        cfg.msg_format = args.format
+
+
     client = utils.MQTTClient(cfg.MQTTClientNameSub)
-   
     # Mqtt
     client = utils.MQTTClient(cfg.MQTTClientNameSub)
     client.on_connect = on_connect

Stream/measure_rtl/delayData/Mosquitto/testf.py

@@ -1,13 +0,0 @@
-from pathlib import Path
-
-# Get the path to the directory to traverse
-directory = Path.cwd()
-Protodir = []
-Jsondir = []
-# Iterate over the files and directories in the directory tree
-for path in directory.glob('**/*.log'):
-    if "Proto" in str(path):
-        Protodir.append(path)
-    elif "Json" in str(path):
-        Jsondir.append(path)
-    print(Protodir)

Stream/measure_rtl/delayData/measureDelay.py

@@ -15,8 +15,9 @@ def checkNumberofLines(df):
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
     parser.add_argument("-q", "--qos", type=int, default=0, help="qos", required=True)
-    parser.add_argument("-b", "--broker", type=str, default="{}", help="Broker", required=True)
+    parser.add_argument("-b", "--broker", type=str, default="HiveMQ", help="Broker", required=True)
     args = parser.parse_args() 
+
     
     # read in the log file
     df_Proto_delayA_PUB = pd.read_csv(f"{args.broker}/qos{args.qos}/ProtodelayA_PUB.log", delim_whitespace=True, header=None, names=["count", "time"])
@@ -47,8 +48,8 @@ if __name__ == "__main__":
     avg_Json = np.average(array_Json)
 
     fig = plt.figure()
-    plt.plot(array_Proto, color="blue", label=f"Proto: {avg_Proto}")
-    plt.plot(array_Json, color="red", label=f"Json:   {avg_Json}")
+    # plt.plot(array_Proto, color="blue", label=f"Proto: {avg_Proto}")
+    plt.plot(array_Json, color="red", label=f"qos0:   {avg_Json}")
     plt.legend()
     plt.xlabel("Number of messages")
     plt.ylabel("Delay (s)")

Stream/measure_rtl/ex

@@ -0,0 +1,3 @@
+python delayClientA_PUB.py  -q 0 -p 1884 -f Json
+
+

Stream/measure_rtl/utils/mqttConfig_delayA_PUB.yml

@@ -1,7 +1,7 @@
 MQTT:
-  msg_format: Proto
-  # msg_format: Json
-  qos: 1
+  # msg_format: Proto
+  msg_format: Json
+  qos: 0
   MQTTClientNamePub: delayA_PUB
   host: 192.168.50.117
   port: 1883

Stream/measure_rtl/utils/mqttConfig_delayA_SUB.yml

@@ -1,7 +1,7 @@
 MQTT:
-  msg_format: Proto
-  # msg_format: Json
-  qos: 1
+  # msg_format: Proto
+  msg_format: Json
+  qos: 0
   MQTTClientNameSub: delayA_SUB
   host: 192.168.50.117
   port: 1883

Stream/measure_rtl/utils/mqttConfig_delayB_SUB.yml

@@ -1,7 +1,7 @@
 MQTT:
-  msg_format: Proto
-  # msg_format: Json
-  qos: 1
+  # msg_format: Proto
+  msg_format: Json
+  qos: 0
   MQTTClientNameSub: delayB_SUB
   host: 192.168.50.117
   port: 1883

Stream/uav_proto_msg/mqttPubMain.py

@@ -25,9 +25,9 @@ import random
 
 class fakeGps():
     def __init__(self):
-        self.latitude = 0.0
-        self.longitude = 20
-        self.altitude = 30
+        self.latitude = 8.0
+        self.longitude = 8.1
+        self.altitude = 8.88
 
 class fake_hdg():
     def __init__(self):
@@ -99,7 +99,7 @@ if __name__ == '__main__':
     file_handler.setLevel(logging.INFO)
 
     logger = logging.getLogger("__PUB__")
-    logger.setLevel(logging.CRITICAL)
+    logger.setLevel(logging.DEBUG)
     logger.addHandler(file_handler)
     logger.addHandler(stream_handler)
 
@@ -128,10 +128,10 @@ if __name__ == '__main__':
     # formation = fake_formation()
     while True:
         # test proto
-        gps.latitude = random.uniform(0, 10)
-        gps.longitude = random.uniform(0, 10)
-        gps.altitude = random.uniform(0, 10)
-        hdg.data = random.uniform(0, 10)
+        # gps.latitude = random.uniform(10, 100)
+        # gps.longitude = random.uniform(10, 100)
+        # gps.altitude = random.uniform(10, 100)
+        # hdg.data = random.uniform(0, 10)
         # formation.velocity = random.uniform(0, 10)
 
         try:

Stream/uav_proto_msg/mqttSubMain.py

@@ -20,7 +20,8 @@ def init_dataFormat(cfg:utils.Read_SUB_Config):
         utils.Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
         utils.Proto_msg_to_ros.fly_formation_msg = flyformatioln_pb2.fly_formation_message()
         
-        client.on_message = utils.Proto_msg_to_ros.on_message
+        client.message_callback_add(cfg.Flight_Information_topicToMqtt, utils.Proto_msg_to_ros.on_message_Flight_Information)
+        client.message_callback_add(cfg.Fly_Formation_topicToMqtt, utils.Proto_msg_to_ros.on_message_Fly_Formation)
 
         utils.Proto_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Proto_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
@@ -28,20 +29,21 @@ def init_dataFormat(cfg:utils.Read_SUB_Config):
         # utils.Json_msg_to_ros.rate = rospy.Rate(10)
         # utils.Json_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
         # utils.Json_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
+    
+        client.message_callback_add(cfg.Flight_Information_topicToMqtt, utils.Json_msg_to_ros.on_message_Flight_Information)
+        client.message_callback_add(cfg.Fly_Formation_topicToMqtt, utils.Json_msg_to_ros.on_message_Fly_Formation)
         
-        client.on_message = utils.Json_msg_to_ros.on_message
         utils.Json_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
         utils.Json_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
     else:
         logging.debug("msg_format not found")
 
-# def on_message(client, userdata, msg):
-#     utils.Json_msg_to_ros.ros_pub(msg)
 
 def on_connect(self, userdata, flags, rc):
     logger.info("Connected with result code " + str(rc))
     client.subscribe(cfg.Flight_Information_topicToMqtt)
     client.subscribe(cfg.Fly_Formation_topicToMqtt)
+    
 
 def on_disconnect(client, userdata, rc):
     # logger.info("disconnecting reason  "  +str(rc))

Stream/uav_proto_msg/mqttSub_changeLeader.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+#coding:utf-8
+import paho.mqtt.client as mqtt
+import os
+import sys
+import time
+import utils
+import proto.flight_information_pb2 as flight_information_pb2
+import proto.flyformatioln_pb2 as flyformatioln_pb2
+import rospy
+from std_msgs.msg import String
+import logging
+
+def init_dataFormat(cfg:utils.Read_SUB_Config):
+    if cfg.msg_format == "Proto":
+        # utils.Proto_msg_to_ros.rate = rospy.Rate(10)
+        # utils.Proto_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
+        # utils.Proto_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
+        
+        utils.Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+        utils.Proto_msg_to_ros.fly_formation_msg = flyformatioln_pb2.fly_formation_message()
+        
+        client.on_message = utils.Proto_msg_to_ros.on_message
+
+        utils.Proto_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
+        utils.Proto_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
+    elif cfg.msg_format == "Json":
+        # utils.Json_msg_to_ros.rate = rospy.Rate(10)
+        # utils.Json_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
+        # utils.Json_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
+        
+        client.on_message = utils.Json_msg_to_ros.on_message
+        utils.Json_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
+        utils.Json_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
+    else:
+        logging.debug("msg_format not found")
+
+# def on_message(client, userdata, msg):
+#     utils.Json_msg_to_ros.ros_pub(msg)
+
+def on_connect(self, userdata, flags, rc):
+    logger.info("Connected with result code " + str(rc))
+    client.subscribe(cfg.Flight_Information_topicToMqtt)
+    # client.subscribe(cfg.Fly_Formation_topicToMqtt)
+    client.subscribe("cmd/Change_Leader")
+    client.message_callback_add("cmd/Change_Leader", on_message_ChangLeader)
+
+def on_message_ChangLeader(client, userdata, msg):
+    client.unsubscribe(cfg.Flight_Information_topicToMqtt)
+    cfg.Flight_Information_topicToMqtt = "Drone650/Flight_Information"
+    client.subscribe(cfg.Flight_Information_topicToMqtt)
+
+def on_disconnect(client, userdata, rc):
+    # logger.info("disconnecting reason  "  +str(rc))
+    client.connected_flag=False
+    client.disconnect_flag=True
+
+def on_publish(self, userdata, mid):
+    pass
+
+
+if __name__ == '__main__':
+    # Read Config
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_SUB.yml")
+    cfg = utils.Read_SUB_Config(FilePath)
+    client = utils.MQTTClient(cfg.MQTTClientNameSub)
+    
+    # set log
+    log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    formatter = logging.Formatter(log_format)
+
+    stream_handler = logging.StreamHandler()
+    stream_handler.setFormatter(formatter)
+    stream_handler.setLevel(logging.DEBUG)
+
+
+    file_handler = logging.FileHandler(cfg.logFileName)
+    file_handler.setFormatter(formatter)
+    file_handler.setLevel(logging.INFO)
+
+    logger = logging.getLogger("__SUB__")
+    logger.setLevel(logging.DEBUG)
+    logger.addHandler(file_handler)
+    logger.addHandler(stream_handler)
+
+    logger.info(cfg)
+   
+    # Mqtt
+    client = utils.MQTTClient(cfg.MQTTClientNameSub)
+    client.on_connect = on_connect
+    client.on_publish = on_publish
+    client.on_disconnect = on_disconnect
+    client.connect(host=cfg.host, port=cfg.port, keepalive=cfg.keepalive)
+    
+
+    # Ros
+    # rospy.init_node(cfg.ROSClientNameSub)
+    # initialize
+    init_dataFormat(cfg)
+    try:
+        client.loop_forever()
+        # rospy.spin()
+    except KeyboardInterrupt as e:
+        client.loop_stop()
+        client.disconnect()
+        logger.info("End of program")
+        sys.exit()
+
+    

Stream/uav_proto_msg/protomsg/Data/sizeData

@@ -1 +1 @@
-{"flight_info_message":{"json":85,"proto":22},"fly_format_message":{"json":55,"proto":7},"imu_info_message":{"json":130,"proto":34},"odom_info_message":{"json":59,"proto":17},"flymode_info_message":{"json":38,"proto":2},"duration_info_message":{"json":8,"proto":4},"timestamp_info_message":{"json":29,"proto":11},"Total":{"json":404,"proto":97}}
+{"flight_info_message":{"json":85,"proto":22},"fly_format_message":{"json":55,"proto":7},"imu_info_message":{"json":130,"proto":34},"odom_info_message":{"json":59,"proto":17},"flymode_info_message":{"json":38,"proto":2},"duration_info_message":{"json":8,"proto":4},"timestamp_info_message":{"json":29,"proto":12},"Total":{"json":404,"proto":98}}

Stream/uav_proto_msg/protomsg/JsonProtosize/timestamp_info_message

@@ -1 +1 @@
-"2022-12-08T16:44:17.067479Z"
+"2023-02-20T17:27:58.498239Z"

Stream/uav_proto_msg/protomsg/JsonProtosize/timestamp_info_message.bin

@@ -1 +1 @@
-á¨ÈœÀ³÷
+炢螣三燀

Stream/uav_proto_msg/utils/mqttConfig_PUB.yml

@@ -1,7 +1,7 @@
 MQTT:
   msg_format: Json
   MQTTClientNamePub: Drone550Pub
-  host: 192.168.50.118
+  host: 192.168.50.117
   port: 1883
   keepalive: 60
   willTopic: CheckDoneConnect

Stream/uav_proto_msg/utils/mqttConfig_SUB.yml

@@ -1,7 +1,7 @@
 MQTT:
   msg_format: Json
   MQTTClientNameSub: Drone550Sub
-  host: 192.168.50.118
+  host: 192.168.50.117
   port: 1883
   keepalive: 60
   willTopic: CheckDoneConnect

Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.py

@@ -24,29 +24,23 @@ class Proto_msg_to_ros:
     Fly_Formation_topicToMqtt = None
 
     #Proto
-
     @classmethod
-    def ros_pub(cls, dataProto):
-        if dataProto.topic == cls.Flight_Information_topicToMqtt:
-            proto_msg = cls.flight_information_msg.FromString(dataProto.payload)
-            protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
-            logger.info(protoTOJson_msg)
-            # cls.publisher_Flight_Information.publish(protoTOJson_msg)
-            # cls.rate.sleep()
-        elif dataProto.topic == cls.Fly_Formation_topicToMqtt:
-            proto_msg = cls.fly_formation_msg.FromString(dataProto.payload)
-            protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
-            # protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True, use_integers_for_enums=True)
-            logger.info(protoTOJson_msg)
-            # cls.publisher_Fly_Formation.publish(protoTOJson_msg)
-            # cls.rate.sleep()
-        else:
-            logger.info("topic not found")
-            
-
-    @staticmethod
-    def on_message(client, userdata, msg):
-        Proto_msg_to_ros.ros_pub(msg)
+    def on_message_Flight_Information(cls, client, userdata, msg):
+        proto_msg = cls.flight_information_msg.FromString(msg.payload)
+        protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
+        logger.info(protoTOJson_msg)
+        # cls.publisher_Flight_Information.publish(protoTOJson_msg)
+        # cls.rate.sleep()
+    
+    @classmethod
+    def on_message_Fly_Formation(cls, client, userdata, msg):
+        proto_msg = cls.fly_formation_msg.FromString(msg.payload)
+        protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
+        # protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True, use_integers_for_enums=True)
+        logger.info(protoTOJson_msg)
+        # cls.publisher_Fly_Formation.publish(protoTOJson_msg)
+        # cls.rate.sleep()
+    
 
 
 class Json_msg_to_ros:
@@ -59,19 +53,17 @@ class Json_msg_to_ros:
     Fly_Formation_topicToMqtt = None
 
     @classmethod
-    def ros_pub(cls, dataJson):
-        if dataJson.topic == cls.Flight_Information_topicToMqtt:
-            logger.info(dataJson.payload.decode("UTF-8"))
-            # cls.publisher_Flight_Information.publish(dataJson.payload.decode("UTF-8"))
-            # cls.rate.sleep()
-        elif dataJson.topic == cls.Fly_Formation_topicToMqtt:
-            logger.info(dataJson.payload.decode("UTF-8"))
-            # cls.publisher_Fly_Formation.publish(dataJson.payload.decode("UTF-8"))
-            # cls.rate.sleep()
-        else:
-            logger.info("topic not found")
-            
+    def on_message_Flight_Information(cls, client, userdata, msg):
+        logger.info(msg.payload.decode("UTF-8"))
+        # cls.publisher_Flight_Information.publish(dataJson.payload.decode("UTF-8"))
+        #cls.rate.sleep()
+    
+    @classmethod
+    def on_message_Fly_Formation(cls, client, userdata, msg):
+        logger.info(msg.payload.decode("UTF-8"))
+        # cls.publisher_Fly_Formation.publish(dataJson.payload.decode("UTF-8"))
+        # cls.rate.sleep()
+    
+        
+
 
-    @staticmethod
-    def on_message(client, userdata, msg):
-        Json_msg_to_ros.ros_pub(msg)