Update local_mqtt_pub_ros.py

localRosData/local_mqtt_pub_ros.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python3#!/usr/bin/env python
+#!/usr/bin/env python3
 #coding:utf-8
 import sys
 import json
@@ -13,6 +13,7 @@ from sensor_msgs.msg import Imu
 from sensor_msgs.msg import Range
 from geometry_msgs.msg import Vector3
 
+mqtt_config = {"host": "192.168.0.48", "port": 1883, "topic": "data/pub"}
 data ={}
 # Ros
 def callBack_imu(IMU):
@@ -48,7 +49,7 @@ def callBack_rng(RNG):
 
 
 # MQTT
-def initialise_clients(cname):
+def initialise_clients(clientname):
     # callback assignment
     initialise_client = mqtt.Client(clientname, False) 
     initialise_client.topic_ack = []
@@ -56,9 +57,9 @@ def initialise_clients(cname):
 
 
 # publish a message
-def mqtt_Pub(topics = mqtt_config["topic"], message, waitForAck=False):
+def mqtt_Pub(message, topics = mqtt_config["topic"], waitForAck=False):
     mid = client.publish(topics, message, 0)[1]
-    print(f"just published {message} to topic")
+    # print(f"just published {message} to topic")
     if waitForAck:
         while mid not in client.top_ack:
             print("wait for ack")
@@ -75,100 +76,6 @@ def on_connect(self, userdata, flags, rc):
  
 if __name__ == '__main__':
     # Mqtt
-    mqtt_config = {"host": "192.168.50.180", "port": 1883, "topic": "data/pub"}
-    client = initialise_clients("client1")
-    client.on_publish = on_publish
-    client.on_connect = on_connect
-    client.connect(mqtt_config["host"], mqtt_config["port"], 60)
-    client.loop_start()
-
-    # Ros
-    nodeName = 'save_data_py'
-    rospy.init_node(nodeName)
-    # topicName = 'data_topic'
-    subscriber = rospy.Subscriber('/mavros/imu/data_raw',Imu,callBack_imu)  #從topic獲取string再呼叫callback
-    subscriber = rospy.Subscriber('/mavros/global_position/global',NavSatFix,callBack_gps)  #從topic獲取string再呼叫callback
-    subscriber = rospy.Subscriber('/mavros/rangefinder/rangefinder',Range,callBack_rng)  #從topic獲取string再呼叫callback
-
-    rospy.spin()
-
-#coding:utf-8
-import sys
-import json
-import paho.mqtt.client as mqtt
-
-
-from traceback import print_tb
-import rospy
-from std_msgs.msg import String
-from sensor_msgs.msg import NavSatFix
-from sensor_msgs.msg import Imu
-from sensor_msgs.msg import Range
-from geometry_msgs.msg import Vector3
-
-data ={}
-# Ros
-def callBack_imu(IMU):
-
-    gyro_x=str(IMU.linear_acceleration.x)
-    gyro_y=str(IMU.linear_acceleration.y)
-    gyro_z=str(IMU.linear_acceleration.z)
-
-    accel_x=str(IMU.angular_velocity.x)
-    accel_y=str(IMU.angular_velocity.y)
-    accel_z=str(IMU.angular_velocity.z)
-
-    data = {"gyro_x": gyro_x, "gyro_y": gyro_y,"gyro_z":gyro_z, "accel_x": accel_x, "accel_y": accel_y, "accel_z": accel_z}
-    jsonData = json.dump(data)
-    # print ('gyro_x:'+gyro_x+'\n'+'gyro_y:'+gyro_y+'\n'+'gyro_z:'+gyro_z +'\n')
-    # print ('accel_x:'+accel_x+'\n'+'accel_y:'+accel_y+'\n'+'accel_z:'+accel_z +'\n')
-
-
-def callBack_gps(GPS):
-
-    lat=str(GPS.latitude)
-    lon=str(GPS.longitude)
-    dataGpsUpdate = {"lat": GPS.latitude, "lon": GPS.longitude}
-    data.update(dataGpsUpdate)
-    # print ('lat:'+lat+'\n'+'lon:'+lon+'\n')
-
-def callBack_rng(RNG):
-    dataRngUpdate = {"range": RNG.range}
-    data.update(dataRngUpdate)
-    dataJsonFormate = data.dumps(data)
-    # print ('range:'+range+'\n')
-    mqtt_Pub(message=dataJsonFormate)
-
-
-# MQTT
-def initialise_clients(cname):
-    # callback assignment
-    initialise_client = mqtt.Client(clientname, False) 
-    initialise_client.topic_ack = []
-    return initialise_client
-
-
-# publish a message
-def mqtt_Pub(topics = mqtt_config["topic"], message, waitForAck=False):
-    mid = client.publish(topics, message, 0)[1]
-    print(f"just published {message} to topic")
-    if waitForAck:
-        while mid not in client.top_ack:
-            print("wait for ack")
-            time.sleep(0.25)
-        client.top_ack.remove(mid)
-
-
-def on_publish(self, userdata, mid):
-    client.top_ack.append(mid)
-
-def on_connect(self, userdata, flags, rc):
-    print("Connected with result code " + str(rc))
-
- 
-if __name__ == '__main__':
-    # Mqtt
-    mqtt_config = {"host": "192.168.50.180", "port": 1883, "topic": "data/pub"}
     client = initialise_clients("client1")
     client.on_publish = on_publish
     client.on_connect = on_connect