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#!/usr/bin/env python
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#coding:utf-8
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# license removed for brevity
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import ssl
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import rospy
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from std_msgs.msg import String
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import paho.mqtt.client as mqtt
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def ros_pub(data):
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global publisher, rate
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publisher.publish(data) #將date字串發布到topic
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rate.sleep();
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print(f"publish data {data}")
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def on_connect(client, userdata, flags, rc):
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print("Connected with result code " + str(rc))
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client.subscribe(topic)
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def on_message(client, userdata, msg):
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# print(f"got {msg.payload.decode('utf-8')}")
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ros_pub(msg.payload.decode('utf-8'))
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def initialise_clients(cname, user, Password):
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# callback assignment
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initialise_client = mqtt.Client(cname, False) # don't use clean session
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initialise_client.username_pw_set(user, Password)
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initialise_client.tls_set(ca_certs=None, certfile=None, keyfile=None, cert_reqs=ssl.CERT_REQUIRED,
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tls_version=ssl.PROTOCOL_TLS,
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ciphers=None)
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initialise_client.tls_insecure_set(True)
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return initialise_client
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# initialize Ros node
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topicName = 'phone_msg'
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publisher = rospy.Publisher(topicName,String,queue_size=10)
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rate = rospy.Rate(10)
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host = "mr2xg4fgthgmv.messaging.solace.cloud"
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port = 8883
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username = "solace-cloud-client"
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password = "mos9bagc51fv70u1ejk7l6rt28"
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topic = "mqtt/pub"
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Mqtt_Node = 'publisher_py'
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rospy.init_node(Mqtt_Node)
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client = initialise_clients("python_sub", username, password)
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client.on_connect = on_connect
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client.on_message = on_message
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client.connect(host, port, 60)
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client.loop_forever()
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# mqtt connect code list
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# 0: Connection successful
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# 1: Connection refused – incorrect protocol version
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# 2: Connection refused – invalid client identifier
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# 3: Connection refused – server unavailable
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# 4: Connection refused – bad username or password
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# 5: Connection refused – not authorised
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# 6-255: Currently unused.
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