Create publisher.py

publisher.py

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+#!/usr/bin/env python
+# license removed for brevity
+# lis
+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
+  
+  
+
+
+
+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)
+    # if mqttclient_log:  # enable mqqt client logging
+    #     initialise_client.on_log = on_log
+    initialise_client.on_connect = on_connect  # attach function to callback
+    initialise_client.on_publish = on_publish
+    # initialise_client.on_message = on_message  # attach function to callback
+    # initialise_client.on_subscribe = on_subscribe
+    # flags set
+    initialise_client.topic_ack = []
+    # initialise_client.run_flag = False
+    # initialise_client.running_loop = False
+    # initialise_client.subscribe_flag = False
+    # initialise_client.bad_connection_flag = False
+    # initialise_client.connected_flag = False
+    # initialise_client.disconnect_flag = False
+    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 client.topic_ack:
+            print("wait ack")
+        else:
+            client.topic_ack.remove(mid)
+
+    # 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))
+
+def on_disconnect(client, userdata, rc):
+    print("dissconnect")
+
+def on_publish(self, userdata, mid):
+    print("ack")
+    client.topic_ack.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 = "mr2xg4fgthgmv.messaging.solace.cloud"
+    port = 8883
+    username = "solace-cloud-client"
+    password = "rmos9bagc51fv70u1ejk7l6rt28"
+    topic = "mqtt/sub"
+    client = initialise_clients("client1", username, password)
+    # client.on_connect = on_connect
+    # client.on_disconnect = on_disconnect
+    # client.on_publish = on_publish
+    client.connect(host, port, 60)
+    client.loop_start()
+    MQTT_Pub(topic, "ack", True)
+    listener()