update josn's formation

Stream/uav_proto_msg/mqttPubMain.py

@@ -37,10 +37,7 @@ class fake_formation():
         self.velocity = 100
         self.type = 3
 
-# test json
-class state():
-    def __init__(self):
-        self.mode = "test"
+
 
 
 
@@ -106,7 +103,6 @@ if __name__ == '__main__':
     #test proto
     gps = fakeGps()
     hdg = fake_hdg()
-    state = state()
     formation = fake_formation()
     while True:
         #test proto
@@ -116,13 +112,15 @@ if __name__ == '__main__':
         gps.altitude = random.uniform(0, 10)
         hdg.data = random.uniform(0, 10)
         formation.velocity = random.uniform(0, 10)
-
+        # test json
+        utils.Json_msg_from_ros.callBack_gps(gps)
+        utils.Json_msg_from_ros.callBack_compass_hdg(hdg)
+        utils.Json_msg_from_ros.callBack_fly_formation(formation)
+        time.sleep(0.25)
+'''
         utils.Proto_msg_from_ros.callBack_gps(gps)
         utils.Proto_msg_from_ros.callBack_compass_hdg(hdg)
         utils.Proto_msg_from_ros.callBack_fly_formation(formation)
         time.sleep(0.25)
-        #test json
-        # utils.Json_msg_from_ros.callBack_gps(gps)
-        # utils.Json_msg_from_ros.callBack_compass_hdg(hdg)
-        # utils.Json_msg_from_ros.callBack_state(state)
-        # time.sleep(1)
+'''
+

Stream/uav_proto_msg/protomsg/Data/timeData

@@ -1 +1 @@
-{"serialize":{"json":0.35475994200533023,"proto":1.0138140169947292},"deserializ":{"json":0.41626033899956383,"proto":0.4805599120008992}}
+{"serialize":{"json":0.3499185360000183,"proto":1.0996155560000034},"deserializ":{"json":0.4229183979999789,"proto":0.5481516849999934}}

Stream/uav_proto_msg/utils/mqttConfig.yml

@@ -1,5 +1,5 @@
 MQTT_ROS:
-  msg_format: Proto
+  msg_format: Json
   MQTTClientNamePub: Drone650Pub
   MQTTClientNameSub: Drone650Sub
   host: 192.168.50.117

Stream/uav_proto_msg/utils/protoJson_mqtt_pub_data_to_ros.py

@@ -58,11 +58,13 @@ class Json_msg_to_ros:
     @classmethod
     def ros_pub(cls, dataJson):
         if dataJson.topic == cls.Flight_Information_topicToMqtt:
-            cls.publisher_Flight_Information.publish(dataJson.payload.decode('utf-8'))
-            cls.rate.sleep()
+            print(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:
-            cls.publisher_Fly_Formation.publish(dataJson.payload.decode('utf-8'))
-            cls.rate.sleep()
+            print(dataJson.payload.decode('utf-8'))
+            # cls.publisher_Fly_Formation.publish(dataJson.payload.decode('utf-8'))
+            # cls.rate.sleep()
         else:
             print("topic not found")
             

Stream/uav_proto_msg/utils/protoJson_mqtt_sub_data_from_ros.py

@@ -54,7 +54,8 @@ class Proto_msg_from_ros:
 
 
 class Json_msg_from_ros:
-    data = {}
+    GPS_Data = {}
+    Formation_Data = {}
     client = None
     #Mqtt
     Flight_Information_topicToMqtt = None
@@ -82,26 +83,26 @@ class Json_msg_from_ros:
         lon=int(GPS.longitude*10000000)
         alt=int(GPS.altitude*100)
         dataGpsUpdate = {"lat": lat, "lon": lon, "alt": alt}
-        cls.data.update(dataGpsUpdate)
+        cls.GPS_Data.update(dataGpsUpdate)
         # dataJsonFormate = orjson.dumps(data)
         # mqtt_Pub(message=dataJsonFormate)
         # print ('lat:'+lat+'\n'+'lon:'+lon+'\n')
 
-    @classmethod 
-    def callBack_state(cls, state):
-        mode = state.mode
-        dataGpsUpdate = {"mode": mode}
-        cls.data.update(dataGpsUpdate)
 
     @classmethod 
     def callBack_compass_hdg(cls, Compass):
         heading = int(Compass.data*100)
         dataGpsUpdate = {"heading": heading}
-        cls.data.update(dataGpsUpdate)
-        dataJsonFormate = orjson.dumps(cls.data).decode("UTF-8")
+        cls.GPS_Data.update(dataGpsUpdate)
+        dataJsonFormate = orjson.dumps(cls.GPS_Data)
         cls.mqtt_Pub(message=dataJsonFormate, topics=cls.Flight_Information_topicToMqtt)
 
-        
+    @classmethod
+    def callBack_fly_formation(cls, Formation):
+        Formation_data = {"velocity": Formation.velocity, "type": Formation.type}
+        flyFormationMsg = orjson.dumps(Formation_data)
+        cls.mqtt_Pub(message=flyFormationMsg, topics=cls.Fly_Formation_topicToMqtt, qos=cls.Fly_Formation_topicToMqtt_QOS)
+
     @classmethod
     def mqtt_Pub(cls, message:str, topics:str, waitForAck:bool=False, qos:int=0):
         mid = cls.client.publish(topics, message, qos)[1]