def on_message(client, userdata, msg):
topic = msg.topic
data = json.loads(msg.payload)
cmd = BoatCmd()
print(topic)
print(data)
if topic == 'as/wrc/upper/move':
cmd.cmd = BoatCmd.SPEED
cmd.data_float32 = [
float(data['fbValue']),
float(data['lrValue'] / 10.0)
]
pub_manual_cmd.publish(cmd)
pub_state.publish(str(data['pilotMode']))
elif topic == 'as/wrc/upper/operate':
cmd.cmd = BoatCmd.LIGHT
cmd.data_int = [
int(data['resetLight']),
int(data['leftLight']),
int(data['rightLight']),
int(data['horn'])
]
pub_cmd.publish(cmd)
elif topic == 'as/wrc/upper/map':
#print("map")
#gps=BoatGpsPoint()
#set_gps = []
set_gps = BoatGpsPoints()
for i in range(len(data) / 2):
#print(i)
gps = BoatGpsPoint()
gps.longitude = float(data['point[%d]' % (i * 2)])
gps.latitude = float(data['point[%d]' % (i * 2 + 1)])
#print(gps)
set_gps.points.append(gps)
# info = json.dumps(GpsPointsToArray(set_gps))
# client.publish('as/wrc/under/map',info, qos=0)
print(set_gps)
#print("end map")
pub_gps.publish(set_gps)
pub_state.publish(str(1))
else:
print("error")
def on_message(client, userdata, msg):
topic = msg.topic
data = json.loads(msg.payload)
cmd = BoatCmd()
print(topic)
print(data)
if topic == 'as/wrc/upper/move':
cmd.cmd = BoatCmd.SPEED
cmd.data_float32 = [
float(data['fbValue']),
float(data['lrValue'] / 10.0)
]
pub_manual_cmd.publish(cmd)
pub_state.publish(str(data['pilotMode']))
elif topic == 'as/wrc/upper/operate':
cmd.cmd = BoatCmd.LIGHT
cmd.data_int = [
int(data['resetLight']),
int(data['leftLight']),
int(data['rightLight']),
int(data['horn'])
]
pub_cmd.publish(cmd)
elif topic == 'as/wrc/upper/map':
start_gps, end_gps = BoatGpsPoint(), BoatGpsPoint()
set_gps = BoatGpsPoints()
start_gps.latitude = float(data['startLat'])
start_gps.longitude = float(data['startLon'])
end_gps.latitude = float(data['endLat'])
end_gps.longitude = float(data['endLon'])
set_gps.points = [start_gps, end_gps]
# info = json.dumps(GpsPointsToArray(set_gps))
# client.publish('as/wrc/under/map',info, qos=0)
print("gps: ", set_gps)
pub_gps.publish(set_gps)
pub_state.publish(str(1))
def client_connected():
while True:
time.sleep(1)
try:
#client.connect('47.100.92.173', 11883, 60) # 600 is keepalive
client.connect('47.110.250.141', 7200, 3600)
client.subscribe('as/wrc/upper/#', qos=0)
client.loop_forever() # keeplive
break
except Exception:
cmd = BoatCmd()
cmd.cmd = BoatCmd.STOP
cmd.data_float32 = []
cmd.data_int = []
pub_manual_cmd.publish(cmd)
pub_state.publish(str(0))
print("timeout,try again...")