def mqtt_sub_callback(self, client, userdata, message):
#def mqtt_sub_callback(self, message):
"""
The callback function for when a message is received from MQTT
This function publishes the message from MQTT to a ROS topic,
and uploads it to google sheet.
Parameters:
client: Client from where we are getting MQTT data
userdata: Data of the client
message: Incomming message from MQTT
"""
# Decode the message using UTF-8 and convert it
# to 'string' datatype
payload = str(message.payload.decode("utf-8"))
rospy.loginfo("[BRIDGE] Message Received from MQTT")
# Give the appropiate values to the contents of the message
# that will be published to '/ros_iot_bridge/mqtt/sub'
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = payload
# Publish the message
self._handle_ros_pub.publish(msg_mqtt_sub)
# Upload to Google Sheet
ret = self.update_gsheet("None", True, payload)
def mqtt_sub_callback(self, client, userdata, message):
payload = str(message.payload.decode("utf-8"))
print("[MQTT SUB CB] Message: ", payload)
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = payload
self._handle_ros_pub.publish(msg_mqtt_sub)
def mqtt_sub_callback_start(self, client, userdata, message):
payload = str(message.payload.decode("utf-8"))
URL = self._config_google_apps_spread_sheet_id
print("[MQTT SUB CB] Message: ", payload)
print("[MQTT SUB CB] Topic: ", message.topic)
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = payload
self._handle_ros_pub.publish(msg_mqtt_sub)
def mqtt_sub_callback(self, client, userdata, message):
payload = str(message.payload.decode("utf-8"))
start_pub = rospy.Publisher('/ros_iot_bridge/mqtt/sub',msgMqttSub)
print("[MQTT SUB CB] Message: ", payload)
print("[MQTT SUB CB] Topic: ", message.topic)
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = payload
self._handle_ros_pub.publish(msg_mqtt_sub)
def mqtt_sub_callback(self, client, userdata, message):
"""
This is a callback function for MQTT Subscriptions
"""
payload = str(message.payload.decode("utf-8"))
print("[MQTT SUB CB] Message: ", payload)
print("[MQTT SUB CB] Topic: ", message.topic)
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = payload
self._handle_ros_pub.publish(msg_mqtt_sub)
def mqtt_sub_callback(self, client, userdata, message):
payload = str(message.payload.decode("utf-8"))
URL = self._config_google_apps_spread_sheet_id
print("[MQTT SUB CB] Message: ", payload)
print("[MQTT SUB CB] Topic: ", message.topic)
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = payload
if len(payload) >= 7:
lst = []
lst = payload.split("(")
lst = lst[1].split(")")
lst = lst[0].split(",")
self.func_upload_to_app_script(URL,
turtle_x=lst[0],
turtle_y=lst[1],
turtle_theta=lst[2])
def mqtt_sub_callback(self, client, userdata, message):
'''**************FUNCTION DOCSTRING**********************
Name: mqtt_sub_callback
Objective: This is a callback function for MQTT Subscriptions
Arguments: message and the MQTT client and userdata
Returns: None
*********************************************************'''
payload = str(message.payload.decode("utf-8"))
print("[MQTT SUB CB] Message: ", payload)
print("[MQTT SUB CB] Topic: ", message.topic)
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = payload
self._handle_ros_pub.publish(msg_mqtt_sub)
def mqtt_sub_callback(self, client, userdata, message):
"""
This is a callback function for MQTT Subscriptions
"""
payload = str(message.payload.decode("utf-8"))
print("[MQTT SUB CB] Message: ", payload)
print("[MQTT SUB CB] Topic: ", message.topic)
# Check if payload is null
if payload == "null":
rospy.logerr("Message:= " + payload)
else:
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = self._config_mqtt_sub_cb_ros_topic
msg_mqtt_sub.message = payload
# publish message on ROSTOPIC /ros_iot_bridge/mqtt/sub
self._handle_ros_pub.publish(msg_mqtt_sub)
# Call incomingorders function
self.incomingorders(payload)
def mqtt_sub_callback(self, client, userdata, message):
"""
This is the callback function whenever a new message arrives
through the ROS topic
Parameters:
userdata (object): a user provided object that will be passed to the
mqtt_sub_callback when a message is received.
message (object): an object containing data of the message recieved over
the mqtt topic
"""
rospy.loginfo(userdata)
rospy.loginfo(client)
payload = str(message.payload.decode("utf-8"))
print("[MQTT SUB CB] Message: ", payload)
print("[MQTT SUB CB] Topic: ", message.topic)
msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = payload
self._handle_ros_pub.publish(msg_mqtt_sub)
