def _on_message(self, client, userdata, msg):
payload = str(msg.payload)
logger.infof('received message from mqtt: {}', payload)
matcher = self._cmd_payload_re.match(payload)
if matcher:
cmd = matcher.group('cmd')
device_id = matcher.group('device_id')
if cmd == 'circle':
self._do_circle()
elif cmd == 'square':
self._do_square()
elif cmd == 'triangle':
self._do_triangle()
elif cmd == 'cross':
self._do_stop()
elif cmd == 'up':
self._do_forward()
elif cmd == 'down':
self._do_backward()
elif cmd == 'left':
self._do_turnleft()
elif cmd == 'right':
self._do_turnright()
else:
logger.warnf('unknown cmd: {}', payload)
cmd = 'UNKNOWN CMD: {}'.format(cmd)
topic = findItem(self._params.mqtt.topics, 'key',
'command_sender_exec').name
fmt = findItem(self._params.mqtt.topics, 'key',
'command_sender_exec').format
self.__client.publish(topic,
fmt.format(device_id=device_id, cmd=cmd))
else:
logger.warnf('unkown payload: {}', payload)
logger.debugf('active threds = {}', threading.active_count())
def _on_receive(self, data):
logger.infof('received message from ros : {}', data.data)
now = datetime.now(pytz.utc).strftime('%Y-%m-%dT%H:%M:%S.%f%z')
topic = findItem(self._params.mqtt.topics, 'key',
'attribute_receiver').name
fmt = findItem(self._params.mqtt.topics, 'key',
'attribute_receiver').format
msg = fmt.format(timestamp=now, temperature=data.data)
self.__client.publish(topic, msg)
def __init__(self, node_name):
self.node_name = node_name
self.__client = mqtt.Client(protocol=mqtt.MQTTv311)
self.__client.on_connect = self._on_connect
self.__client.on_message = self._on_message
rospy.on_shutdown(self._do_stop)
rospy.on_shutdown(self.__client.disconnect)
rospy.on_shutdown(self.__client.loop_stop)
self._params = getParams(rospy.get_param("~"))
topic = findItem(self._params.ros.topics, 'key', 'turtlesim')
self.__ros_pub = rospy.Publisher(topic.name, Twist, queue_size=10)
self.__do_move = False
self.__lock = threading.Lock()
self._cmd_payload_re = re.compile(
findItem(self._params.mqtt.topics, 'key', 'command_sender').re)
def main():
try:
rospy.init_node(NODE_NAME)
logger.warnf('Start test node : {}', NODE_NAME)
topic = findItem(getParams(rospy.get_param("~")).ros.topics, 'key', 'temperature')
pub = rospy.Publisher(topic.name, Float32, queue_size=10)
r = rospy.Rate(2)
while not rospy.is_shutdown():
pub.publish(Float32(1.0))
r.sleep()
except rospy.ROSInterruptException:
pass
def test_find_none1(self, obj, key_name, key_value):
if obj == 'a':
a = self.d.a
else:
a = obj
result = findItem(a, key_name, key_value)
if obj == 'a' and key_name == 'key' and key_value == 'KEY1':
self.assertEqual(result, self.a_type(key='KEY1', value='VALUE1'))
self.assertEqual(result.key, 'KEY1')
self.assertEqual(result.value, 'VALUE1')
else:
self.assertIsNone(result)
def __init__(self, node_name):
self.node_name = node_name
self.__client = mqtt.Client(protocol=mqtt.MQTTv311)
self.__client.on_connect = self._on_connect
rospy.on_shutdown(self.__client.disconnect)
rospy.on_shutdown(self.__client.loop_stop)
self._params = getParams(rospy.get_param("~"))
topic = findItem(self._params.ros.topics, 'key', 'temperature')
self.__ros_sub = rospy.Subscriber(topic.name,
Float32,
self._on_receive,
queue_size=10)
def _on_connect(self, client, userdata, flags, response_code):
logger.infof('mqtt connect status={}', response_code)
client.subscribe(
findItem(self._params.mqtt.topics, 'key', 'command_sender').name)