def __init__(self, brokerIp=None, brokerPort=1883, sensorTopic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__sensorTopic = sensorTopic
self.__client = mqtt.Client()
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
self.__stop = False
self.sensingRover = SensingRover()
class MqttPublisher:
def __init__(self,
brokerIp=None,
brokerPort=1883,
sensorTopic=None,
cameraTopic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__sensorTopic = sensorTopic
self.__client = mqtt.Client()
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
self.__stop = False
self.sensingRover = SensingRover()
def __on_connect(self, client, userdata, flags, result_code):
print("** mqtt connected **")
sensorThread = threading.Thread(target=self.__sensorPublish)
sensorThread.start()
cameraThread = threading.Thread(target=self.__cameraPublish)
cameraThread.start()
def __on_disconnect(self, client, userdata, rc):
print("** mqtt disconnected **")
def __connect(self):
self.__stop = False
self.__client.connect(self.__brokerIp, self.__brokerPort)
self.__client.loop_forever()
def __sensorPublish(self):
self.__stop = False
while not self.__stop:
message = self.sensingRover.sensorMessage()
self.__client.publish(self.__sensorTopic, message, retain=False)
# print("발행 내용:", self.__sensorTopic, message)
time.sleep(1)
def __cameraPublish(self):
self.__stop = False
while not self.__stop:
message = self.sensingRover.cameraMessage()
self.__client.publish(self.__cameraTopic, message, retain=False)
# print("발행 내용:", self.__cameraTopic, message)
time.sleep(0.01) # 지연 현상 해소
def start(self):
loopThread = threading.Thread(target=self.__connect)
loopThread.start()
def stop(self):
self.__stop = True
self.__client.disconnect()
class MqttPublisher:
def __init__(self, brokerIp=None, brokerPort=1883, topic=None, cameraTopic=None):
self.__brokerIp = brokerIp
self.__brokerPort = brokerPort
self.__topic = topic
self.__cameraTopic = cameraTopic
self.__client = mqtt.Client()
self.__client.on_connect = self.__on_connect
self.__client.on_disconnect = self.__on_disconnect
self.__stop = False
self.sensingRover = SensingRover()
def __on_connect(self):
print("** connection **")
def __on_disconnect(self):
print("** disconnection **")
def __publish(self):
self.__client.connect(self.__brokerIp, self.__brokerPort)
self.__stop = False
self.__client.loop_start()
while not self.__stop:
message = self.sensingRover.message()
self.__client.publish(self.__topic, message, retain=False)
print("발행 내용:", self.__topic, message)
time.sleep(1)
self.__client.loop_stop()
def __cameraPublish(self):
self.__client.connect(self.__brokerIp, self.__brokerPort)
self.__stop = False
self.__client.loop_start()
while not self.__stop:
message = self.sensingRover.cameraMessage()
self.__client.publish(self.__cameraTopictopic, message, retain=False)
print("발행 내용:", self.__cameraTopic, message)
self.__client.loop_stop()
def start(self):
thread = threading.Thread(target=self.__publish)
thread.start()
cameraThread = threading.Thread(target=self.__cameraPublish)
cameraThread.start()
def stop(self):
self.__client.disconnect()
self.__stop = True