create sub/pub config respective

Stream/uav_proto_msg/mqttPubMain.py

@@ -28,14 +28,14 @@ class fakeGps():
         self.longitude = 20
         self.altitude = 30
 
-class fake_hdg():
-    def __init__(self):
-        self.data = 40
+# class fake_hdg():
+#     def __init__(self):
+#         self.data = 40
 
-class fake_formation():
-    def __init__(self):
-        self.velocity = 100
-        self.type = 3
+# class fake_formation():
+#     def __init__(self):
+#         self.velocity = 100
+#         self.type = 3
 
 
 
@@ -76,7 +76,7 @@ def on_publish(self, userdata, mid):
 
 if __name__ == '__main__':
     # Read Config
-    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig.yml")
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_PUB.yml")
     cfg = utils.MQTT_ROS_Config(FilePath)
     client = utils.MQTTClient(cfg.MQTTClientNamePub)
     print(cfg)
@@ -102,20 +102,20 @@ if __name__ == '__main__':
 
     #test proto
     gps = fakeGps()
-    hdg = fake_hdg()
-    formation = fake_formation()
+    # hdg = fake_hdg()
+    # 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)
-        formation.velocity = 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)
+        # 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)

Stream/uav_proto_msg/mqttSubMain.py

@@ -39,6 +39,7 @@ def init_dataFormat(cfg):
 
 def on_connect(self, userdata, flags, rc):
     print("Connected with result code " + str(rc))
+    print(cfg.Flight_Information_topicToMqtt)
     client.subscribe(cfg.Flight_Information_topicToMqtt)
     client.subscribe(cfg.Fly_Formation_topicToMqtt)
 
@@ -48,7 +49,7 @@ def on_publish(self, userdata, mid):
 
 if __name__ == '__main__':
     # Read Config
-    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig.yml")
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_SUB.yml")
     # Read Config
     cfg = utils.MQTT_ROS_Config(FilePath)
     print(cfg)

Stream/uav_proto_msg/utils/mqttConfig_PUB.yml

@@ -1,21 +1,21 @@
 MQTT_ROS:
   msg_format: Json
-  MQTTClientNamePub: Drone650Pub
-  MQTTClientNameSub: Drone650Sub
+  MQTTClientNamePub: Drone550Pub
+  MQTTClientNameSub: Drone550Sub
   host: 192.168.50.117
   port: 1883
   keepalive: 60
   willTopic: CheckDoneConnect
   willTopicQOS: 1
-  lwt: Drone650 Gone Offline
+  lwt: Dron550 Gone Offline
   willRetain: False
   # Mqtt topic
-  Flight_Information_topicToMqtt: drone/leader/Flight_Information
-  Fly_Formation_topicToMqtt: drone/leader/Formation
+  Flight_Information_topicToMqtt: Drone550/Flight_Information
+  Fly_Formation_topicToMqtt: Drone550/Formation
   # Change formate qos
   Fly_Formation_topicToMqtt_QOS: 2
   #ROS
-  ROSClientNamePub: Drone650Pub
-  ROSClientNameSub: Drone650Sub
+  ROSClientNamePub: Drone550Pub
+  ROSClientNameSub: Drone550Sub
   ROStopicName_Flight_Information: Flight_Information_reciver
   ROStopicName_Fly_Formation: Fly_Formation_reciver

Stream/uav_proto_msg/utils/mqttConfig_SUB.yml

@@ -0,0 +1,21 @@
+MQTT_ROS:
+  msg_format: Json
+  MQTTClientNamePub: Drone550Pub
+  MQTTClientNameSub: Drone550Sub
+  host: 192.168.50.117
+  port: 1883
+  keepalive: 60
+  willTopic: CheckDoneConnect
+  willTopicQOS: 1
+  lwt: Dron550 Gone Offline
+  willRetain: False
+  # Mqtt topic
+  Flight_Information_topicToMqtt: Drone550/Flight_Information
+  Fly_Formation_topicToMqtt: Drone550/Formation
+  # Change formate qos
+  Fly_Formation_topicToMqtt_QOS: 2
+  #ROS
+  ROSClientNamePub: Drone550Pub
+  ROSClientNameSub: Drone550Sub
+  ROStopicName_Flight_Information: Flight_Information_reciver
+  ROStopicName_Fly_Formation: Fly_Formation_reciver

Stream/uav_proto_msg/utils/protoJson_mqtt_sub_data_from_ros.py

@@ -84,8 +84,8 @@ class Json_msg_from_ros:
         alt=int(GPS.altitude*100)
         dataGpsUpdate = {"lat": lat, "lon": lon, "alt": alt}
         cls.GPS_Data.update(dataGpsUpdate)
-        # dataJsonFormate = orjson.dumps(data)
-        # mqtt_Pub(message=dataJsonFormate)
+        dataJsonFormate = orjson.dumps(cls.GPS_Data)
+        cls.mqtt_Pub(message=dataJsonFormate, topics=cls.Flight_Information_topicToMqtt)
         # print ('lat:'+lat+'\n'+'lon:'+lon+'\n')