def unsubscribe(sock, topics):
"""
Description:
取消订阅一组主题消息。
Args:
sock(Socket):
客户端socket对象。
topics(array[string]):
将要取消订阅的主题数组，数组单元为主题字符串。
Returns:
packetIdentifier(int)
本次请求使用的报文标识符。
Raises:
IOException
socket连接异常。
"""
packetIdentifier = generatePacketIdentifier()
tmpUnsubscribes.append({
'packetIdentifier': packetIdentifier,
'topics': topics
})
sendMessage(sock, Encoders.UNSUBSCRIBE_Encoder(packetIdentifier, topics))
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": Unsubscribing...")
return packetIdentifier
def publishAtQos2(sock, topic, message, retain):
"""
Description:
发送一则服务质量等级为2的消息。
Args:
sock(Socket):
客户端socket对象。
topic(string):
消息主题。
message(string):
消息内容。
retain(int):
消息保留标志。
Returns:
packetIdentifier(int)
本次请求使用的报文标识符。
Raises:
IOException
socket连接异常。
"""
packetIdentifier = generatePacketIdentifier()
sendMessage(
sock,
Encoders.PUBLISH_Encoder(0, 2, retain, topic, packetIdentifier,
message))
tmpPublishAtQos2.append({
"packetIdentifier": packetIdentifier,
"waitingFor": 'PUBREC'
})
return packetIdentifier
def main():
try:
dataLog = DataLog.DataLog(logDir = 'logs/')
dataLog.updateLog({'velocity_units':velocityUnits})
encoders = Encoders.Encoders(countsPerRevolution = countsPerRevolution, units = velocityUnits)
#time.sleep(2) #allow encoder time to attach
motors = Motors.Motors(i2c_bus_num,nmotors,min_throttle_percentage, max_throttle_percentage, min_throttle_pulse_width, max_throttle_pulse_width)
#start motor communication
motors.setPWMfreq(PWM_frequency)
motors.motor_startup()
for i in xrange(3):
motors.setPWM(i, 0)
freq = 1/2.0
dataLog.updateLog({'start_time': time.time()})
while True:
#get measured velocity array
#calculate commanded velocities array
#convert commanded velocities to throttle
#send commanded PWM signal to motors
loop_start_time = time.time()
count_array = encoders.returnCountArray()
measured_velocities = encoders.getVelocities()
print measured_velocities
command_time = time.time()
commanded_throttles = [wave(100,2*pi/nmotors*pwmNum, freq, command_time) for pwmNum in xrange(nmotors)]
for pwmNum, throttle in enumerate(commanded_throttles):
motors.setPWM(pwmNum,throttle)
loop_end_time = time.time()
#write information to logs
log_info = {
'counts': dict(zip(['time', 0, 1, 2], count_array)),
'commanded_velocity': dict(zip(['time', 0, 1, 2],[command_time] + map(actuatorVelocityModel, commanded_throttles))),
'commanded_throttle': dict(zip(['time', 0, 1, 2],[command_time] + commanded_throttles)),
'measured_velocity': dict(zip(['time', 0, 1, 2], measured_velocities)),
'iteration_latency': loop_end_time - loop_start_time,
'command_latency': loop_end_time - command_time,
'measurement_to_command_latency': command_time - measured_velocities[0]
}
dataLog.updateLog(log_info)
except KeyboardInterrupt:
for i in xrange(3):
motors.setPWM(i, 0)
dataLog.saveLog(baseName = 'Closed_Loop_Test')
def ping(sock):
"""
Description:
向服务器发送PING请求。
Args:
sock(Socket):
客户端socket对象。
Returns:
None
Raises:
IOException
socket连接异常。
"""
print("[" + getTime() + "]" + " [CLIENT/INFO] Sending heartbeat...")
sendMessage(sock, Encoders.PINGREQ_Encoder())
print("[" + getTime() + "]" + " [CLIENT/INFO] Heartbeat sent.")
def disconnect(sock):
"""
Description:
主动断开与服务端的连接。
Args:
sock(Socket):
客户端socket对象。
Returns:
None
Raises:
IOException
socket连接异常。
"""
print("[" + getTime() + "]" +
" [CLIENT/INFO] Sending DISCONNECT message...")
sendMessage(sock, Encoders.DISCONNECT_Encoder())
def __init__(self, leftMotorOutA, leftMotorOutB, leftPwm, rightMotorOutA, rightMotorOutB, rightPwm, liftServoPin, pinchServoPin):
print 'create robot'
self.leftMotor = Motor.motor(leftMotorOutA, leftMotorOutB, leftPwm)
self.rightMotor = Motor.motor(rightMotorOutA, rightMotorOutB, rightPwm)
self.claw = Claw.claw(liftServoPin, pinchServoPin)
self.irSensors = IrSensor.irSensor()
self.encoders = Encoders.easy_encoders()
self.leftPid = pid_control.easy_PID(P_GAIN, I_GAIN, D_GAIN)
self.rightPid = pid_control.easy_PID(P_GAIN, I_GAIN, D_GAIN)
self.pixyObj = easy_pixy_test.easy_pixy()
def __init__(self, leftMotorOutA, leftMotorOutB, leftPwm, rightMotorOutA, rightMotorOutB, rightPwm, liftServoPin, pinchServoPin):
#Set up colorized logger
self.logger = logging.getLogger('maze_run')
coloredlogs.install(level='DEBUG')
#Create objects related to robot
self.logger.info('create robot')
self.leftMotor = Motor.motor(leftMotorOutA, leftMotorOutB, leftPwm)
self.rightMotor = Motor.motor(rightMotorOutA, rightMotorOutB, rightPwm)
self.claw = Claw.claw(liftServoPin, pinchServoPin)
self.irSensors = IrSensor.irSensor()
self.encoders = Encoders.easy_encoders()
self.leftPid = pid_control.easy_PID(P_GAIN, I_GAIN, D_GAIN)
self.rightPid = pid_control.easy_PID(P_GAIN, I_GAIN, D_GAIN)
self.pixyObj = easy_pixy_test.easy_pixy()
self.PREVIOUS_CORRECTION_VALUE = 0
self.pickedup = False
def publishAtQos0(sock, topic, message, retain):
"""
Description:
发送一则服务质量等级为0的消息。
Args:
sock(Socket):
客户端socket对象。
topic(string):
消息主题。
message(string):
消息内容。
retain(int):
消息保留标志。
Returns:
None
Raises:
IOException
socket连接异常。
"""
sendMessage(sock, Encoders.PUBLISH_Encoder(0, 0, retain, topic, 0,
message))
print("[" + getTime() + "]" + " [CLIENT/INFO] Message published at Qos0" +
".")
def decode(self, data):
"""
Description:
对于给定的报文字节串进行解码，并实现对应的逻辑响应。
Args:
data(byte[])
待解码的报文字节串。
Returns:
None
Raises:
Decoders.IllegalMessageException
消息解码错误。
IOException
socket连接错误。
"""
if data == b'':
return
try:
messageType, results = Decoders.message_Decoder(data)
if messageType == definition.messageType.CONNECT:
if results['clientId'].isalnum(
) and results['clientId'].__len__(
) >= 1 and results['clientId'].__len__() <= 23:
self.clientId = results['clientId']
if checkUser(results['userName'],
results['password']) == 2:
if results['cleanSession'] == 1:
removeSubscribe(results['clientId'])
self.keepAlive = results['keepAlive']
self.willFlag = results['willFlag']
if self.willFlag == 1:
self.willTopic = results['willTopic']
self.willMessage = results['willMessage']
self.willQos = results['willQos']
self.willRetain = results['willRetain']
print("[" + getTime() + "]" +
" [SERVER/INFO] Client " + str(self.address) +
" has connected.")
sessionPresent = getSubscribe(self.clientId).__len__()
if sessionPresent > 0:
sessionPresent = 1
self.send(
Encoders.CONNACK_Encoder(
sessionPresent,
definition.ConnackReturnCode.ACCEPTED))
scs = getSubscribe(self.clientId)
for sc in scs:
for retainedMessage in retainedMessages:
if checkFatherSon(
sc[1], retainedMessage['topic']
) or retainedMessage['topic'] == sc[1]:
packetIdentifier = generatePacketIdentifier(
)
print(111)
self.send(
Encoders.PUBLISH_Encoder(
0, sc[2], 0,
retainedMessage['topic'],
packetIdentifier,
retainedMessage['message']))
if sc[2] == 2:
timer = threading.Timer(
ACK_TIMEOUT, pubrecNotReceived, [
self,
])
timeoutTimers.append({
'clientId':
self.getClientId(),
'packetIdentifier':
packetIdentifier,
'waitingFor':
'PUBREC',
'timer':
timer
})
timer.start()
elif sc[2] == 1:
timer = threading.Timer(
ACK_TIMEOUT, pubackNotReceived, [
self,
])
timeoutTimers.append({
'clientId':
self.getClientId(),
'packetIdentifier':
packetIdentifier,
'waitingFor':
'PUBACK',
'timer':
timer
})
timer.start()
print(
"[" + getTime() + "]" +
" [SERVER/INFO] A retained message sent to Client "
+ str(self.address) + " at packet " +
str(packetIdentifier) + " .")
retainedMessages.remove(retainedMessage)
break
keepAliveThread = threading.Thread(target=self.counter)
keepAliveThread.start()
elif checkUser(results['userName'],
results['password']) == 0:
self.send(
Encoders.CONNACK_Encoder(
0, definition.ConnackReturnCode.
REFUSED_INVALID_USER))
print("[" + getTime() + "]" +
" [SERVER/INFO] Client " + str(self.address) +
" has disconnected: Illegal User or Password.")
self.onDisconnect()
else:
self.send(
Encoders.CONNACK_Encoder(
0, definition.ConnackReturnCode.
REFUSED_UNAUTHORIZED))
print("[" + getTime() + "]" +
" [SERVER/INFO] Client " + str(self.address) +
" has disconnected: Unauthorized user.")
self.onDisconnect()
else:
self.send(
Encoders.CONNACK_Encoder(
0, definition.ConnackReturnCode.
REFUSED_ILLEGAL_CLIENTID))
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) +
" has disconnected: Illegal ClientId.")
self.onDisconnect()
elif messageType == definition.messageType.SUBSCRIBE:
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " subscribing...")
packetIdentifier = results['packetIdentifier']
topics = results['topics']
returnCodes = []
for i in range(0, topics.__len__()):
removeSubscribe(self.clientId, topics[i]['topic'])
addSubscribe(self.clientId, topics[i]['topic'],
topics[i]['qos'])
returnCodes.append(topics[i]['qos'])
self.send(
Encoders.SUBACK_Encoder(packetIdentifier, returnCodes))
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " subscribed.")
print("[" + getTime() + "]" +
" [SERVER/INFO] Current subscirbes: " +
str(getAllSubscribe()) + " .")
elif messageType == definition.messageType.UNSUBSCRIBE:
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " unsubscribing...")
packetIdentifier = results['packetIdentifier']
topics = results['topics']
for i in range(0, topics.__len__()):
removeSubscribe(self.clientId, topics[i])
self.send(Encoders.UNSUBACK_Encoder(packetIdentifier))
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " unsubscribed.")
print("[" + getTime() + "]" +
" [SERVER/INFO] Current subscirbes: " +
str(getAllSubscribe()) + " .")
elif messageType == definition.messageType.PINGREQ:
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " sent a heartbeat.")
self.send(Encoders.PINGRESP_Encoder())
elif messageType == definition.messageType.PUBLISH:
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " sent a message.")
messageQueue.put({
'retain': results['retain'],
'topic': results['topic'],
'message': results['message']
})
if results['qos'] == 1:
self.send(
Encoders.PUBACK_Encoder(results['packetIdentifier']))
print("[" + getTime() + "]" +
" [SERVER/INFO] PUBACK responded to Client " +
str(self.address) + " at packet " +
str(results['packetIdentifier']) + " .")
elif results['qos'] == 2:
self.send(
Encoders.PUBREC_Encoder(results['packetIdentifier']))
print("[" + getTime() + "]" +
" [SERVER/INFO] PUBREC responded to Client " +
str(self.address) + " at packet " +
str(results['packetIdentifier']) + " .")
elif messageType == definition.messageType.PUBREL:
self.send(Encoders.PUBCOMP_Encoder(
results['packetIdentifier']))
print("[" + getTime() + "]" +
" [SERVER/INFO] PUBCOMP responded to Client " +
str(self.address) + " at packet " +
str(results['packetIdentifier']) + " .")
elif messageType == definition.messageType.PUBACK:
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " responded a PUBACK.")
clientId = self.clientId
packetIdentifier = results['packetIdentifier']
try:
for i in range(0, timeoutTimers.__len__()):
if timeoutTimers[i][
'packetIdentifier'] == packetIdentifier and timeoutTimers[
i]['clientId'] == clientId and timeoutTimers[
i]['waitingFor'] == 'PUBACK':
timeoutTimers[i]['timer'].cancel()
except:
pass
elif messageType == definition.messageType.PUBREC:
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " responded a PUBREC.")
clientId = self.clientId
packetIdentifier = results['packetIdentifier']
self.send(Encoders.PUBREL_Encoder(packetIdentifier))
print("[" + getTime() + "]" +
" [SERVER/INFO] PUBREL responded to Client " +
str(self.address) + " at packet " +
str(packetIdentifier) + " .")
try:
for i in range(0, timeoutTimers.__len__()):
if timeoutTimers[i][
'packetIdentifier'] == packetIdentifier and timeoutTimers[
i]['clientId'] == clientId and timeoutTimers[
i]['waitingFor'] == 'PUBREC':
timeoutTimers[i]['timer'].cancel()
break
timer = threading.Timer(ACK_TIMEOUT,
self.pubcompNotReceived)
timeoutTimers.append({
'clientId': self.getClientId(),
'packetIdentifier': packetIdentifier,
'waitingFor': 'PUBCOMP',
'timer': timer
})
timer.start()
except:
pass
elif messageType == definition.messageType.PUBCOMP:
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " responded a PUBCOMP.")
clientId = self.clientId
packetIdentifier = results['packetIdentifier']
try:
for i in range(0, timeoutTimers.__len__()):
if timeoutTimers[i][
'packetIdentifier'] == packetIdentifier and timeoutTimers[
i]['clientId'] == clientId and timeoutTimers[
i]['waitingFor'] == 'PUBCOMP':
timeoutTimers[i]['timer'].cancel()
break
except:
pass
elif messageType == definition.messageType.DISCONNECT:
self.onDisconnect()
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) + " has disconnected.")
except Decoders.IllegalMessageException:
print(data)
print("[" + getTime() + "]" + " [SERVER/INFO] Client " +
str(self.address) +
" has disconnected: Illegal Message Received.")
self.onDisconnect()
def publishFromQueue():
"""
Description:
从线程安全的messageQueue中按队列顺序发送消息。
Args:
None
Returns:
None
Raises:
IOException
socket连接异常。
"""
while True:
if messageQueue.qsize() != 0:
messageItem = messageQueue.get()
subscribers = getSubscribers(messageItem['topic'])
for i in range(0, subscribers.__len__()):
subscriber = subscribers[i][0]
qos = subscribers[i][2]
connectionsLock.acquire()
if qos == 0:
for j in range(0, connections.__len__()):
if connections[j].getClientId() == subscriber:
connections[j].send(
Encoders.PUBLISH_Encoder(
0, qos, 0, messageItem['topic'], 0,
messageItem['message']))
elif qos == 1:
packetIdentifier = generatePacketIdentifier()
for j in range(0, connections.__len__()):
if connections[j].getClientId() == subscriber:
connections[j].send(
Encoders.PUBLISH_Encoder(
0, qos, 0, messageItem['topic'],
packetIdentifier, messageItem['message']))
timer = threading.Timer(ACK_TIMEOUT,
pubackNotReceived, [
connections[j],
])
timeoutTimers.append({
'clientId':
connections[j].getClientId(),
'packetIdentifier':
packetIdentifier,
'waitingFor':
'PUBACK',
'timer':
timer
})
timer.start()
elif qos == 2:
packetIdentifier = generatePacketIdentifier()
for j in range(0, connections.__len__()):
if connections[j].getClientId() == subscriber:
connections[j].send(
Encoders.PUBLISH_Encoder(
0, qos, 0, messageItem['topic'],
packetIdentifier, messageItem['message']))
timer = threading.Timer(ACK_TIMEOUT,
pubrecNotReceived, [
connections[j],
])
timeoutTimers.append({
'clientId':
connections[j].getClientId(),
'packetIdentifier':
packetIdentifier,
'waitingFor':
'PUBREC',
'timer':
timer
})
timer.start()
connectionsLock.release()
if messageItem['retain'] == 1:
addRetain(messageItem)
print("[" + getTime() + "]" +
" [SERVER/INFO] Queue processed a message." +
str(messageQueue.qsize()) + " message(s) in queue, " +
str(retainedMessages.__len__()) + " message(s) retained.")
def decode(data, sock):
"""
Description:
解码报文，并做出对应的逻辑响应。
Args:
data(byte[]):
待解码的报文字符串。
sock(Socket):
客户端socket对象。
Returns:
None
Raises:
IOException
socket连接异常。
Decoders.IllegalMessageException
报文解码异常。
"""
global alive, sessionPresent, subscribes
try:
messageType, results = Decoders.message_Decoder(data)
if messageType == definition.messageType.CONNACK:
if results['sessionPresent'] == 0:
subscribes = []
if results['returnCode'] == definition.ConnackReturnCode.ACCEPTED:
print("[" + getTime() + "]" + " [CLIENT/INFO] MQTT Connected!")
elif results[
'returnCode'] == definition.ConnackReturnCode.REFUSED_ILLEGAL_CLIENTID:
print("[" + getTime() + "]" +
" [CLIENT/INFO] MQTT Disconnected: Illegal ClientID.")
alive = SOCKET_DISCONNECTED
sock.close()
elif results[
'returnCode'] == definition.ConnackReturnCode.REFUSED_INVALID_USER:
print("[" + getTime() + "]" +
" [CLIENT/INFO] MQTT Disconnected: Invalid User.")
alive = SOCKET_DISCONNECTED
sock.close()
elif results[
'returnCode'] == definition.ConnackReturnCode.REFUSED_SERVER_UNAVAILABLE:
print(
"[" + getTime() + "]" +
" [CLIENT/INFO] MQTT Disconnected: Server temporarily unavailable."
)
alive = SOCKET_DISCONNECTED
sock.close()
elif results[
'returnCode'] == definition.ConnackReturnCode.REFUSED_UNAUTHORIZED:
print("[" + getTime() + "]" +
" [CLIENT/INFO] MQTT Disconnected: Unauthorized.")
alive = SOCKET_DISCONNECTED
sock.close()
elif results[
'returnCode'] == definition.ConnackReturnCode.REFUSED_UNSUPPORTED_PROTOCOL:
print(
"[" + getTime() + "]" +
" [CLIENT/INFO] MQTT Disconnected: Unsupported protocol.")
alive = SOCKET_DISCONNECTED
sock.close()
elif messageType == definition.messageType.SUBACK:
packetIdentifier = results['packetIdentifier']
for i in range(0, tmpSubscribes.__len__()):
if tmpSubscribes[i]['packetIdentifier'] == packetIdentifier:
for j in range(0, tmpSubscribes[i]['topics'].__len__()):
if results['returnCodes'][
j] == definition.SubackReturnCode.FAILURE:
print(
"[" + getTime() + "]" +
" [CLIENT/WARN] Subscribe failure at topic " +
tmpSubscribes[i]['topics'][j]['topic'] + ".")
elif results['returnCodes'][
j] == definition.SubackReturnCode.SUCCESS_MAX_QOS_0:
print(
"[" + getTime() + "]" +
" [CLIENT/INFO] Subscribe success at topic " +
tmpSubscribes[i]['topics'][j]['topic'] +
", Qos 0 .")
removeSubscribe(
tmpSubscribes[i]['topics'][j]['topic'])
subscribes.append({
'topic':
tmpSubscribes[i]['topics'][j]['topic'],
'qos':
0
})
elif results['returnCodes'][
j] == definition.SubackReturnCode.SUCCESS_MAX_QOS_1:
print(
"[" + getTime() + "]" +
" [CLIENT/INFO] Subscribe success at topic " +
tmpSubscribes[i]['topics'][j]['topic'] +
", Qos 1 .")
removeSubscribe(
tmpSubscribes[i]['topics'][j]['topic'])
subscribes.append({
'topic':
tmpSubscribes[i]['topics'][j]['topic'],
'qos':
1
})
elif results['returnCodes'][
j] == definition.SubackReturnCode.SUCCESS_MAX_QOS_2:
print(
"[" + getTime() + "]" +
" [CLIENT/INFO] Subscribe success at topic " +
tmpSubscribes[i]['topics'][j]['topic'] +
", Qos 2 .")
removeSubscribe(
tmpSubscribes[i]['topics'][j]['topic'])
subscribes.append({
'topic':
tmpSubscribes[i]['topics'][j]['topic'],
'qos':
2
})
tmpSubscribes.pop(i)
break
print("[" + getTime() + "]" +
" [CLIENT/INFO] Current subscribes: " + str(subscribes) +
" .")
elif messageType == definition.messageType.UNSUBACK:
packetIdentifier = results['packetIdentifier']
for i in range(0, tmpUnsubscribes.__len__()):
if tmpUnsubscribes[i]['packetIdentifier'] == packetIdentifier:
for j in range(0, tmpUnsubscribes[i]['topics'].__len__()):
removeSubscribe(tmpUnsubscribes[i]['topics'][j])
tmpUnsubscribes.pop(i)
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": Unsubscribe success.")
break
print("[" + getTime() + "]" +
" [CLIENT/INFO] Current subscribes: " + str(subscribes) +
" .")
elif messageType == definition.messageType.PUBACK:
packetIdentifier = results['packetIdentifier']
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": PUBACK received.")
for i in range(0, tmpPublishAtQos1.__len__()):
if tmpPublishAtQos1[i][
'packetIdentifier'] == packetIdentifier and tmpPublishAtQos1[
i]['waitingFor'] == 'PUBACK':
tmpPublishAtQos1.pop(i)
break
elif messageType == definition.messageType.PUBREC:
packetIdentifier = results['packetIdentifier']
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": PUBREC received.")
sendMessage(sock, Encoders.PUBREL_Encoder(packetIdentifier))
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": PUBREL sent.")
for i in range(0, tmpPublishAtQos2.__len__()):
if tmpPublishAtQos2[i][
'packetIdentifier'] == packetIdentifier and tmpPublishAtQos2[
i]['waitingFor'] == 'PUBREC':
tmpPublishAtQos2[i]['waitingFor'] = 'PUBCOMP'
break
elif messageType == definition.messageType.PUBCOMP:
packetIdentifier = results['packetIdentifier']
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": PUBCOMP received.")
for i in range(0, tmpPublishAtQos2.__len__()):
if tmpPublishAtQos2[i][
'packetIdentifier'] == packetIdentifier and tmpPublishAtQos2[
i]['waitingFor'] == 'PUBCOMP':
tmpPublishAtQos2.pop(i)
break
elif messageType == definition.messageType.PUBLISH:
qos = results['qos']
topic = results['topic']
message = results['message']
packetIdentifier = results['packetIdentifier']
if qos == 0:
print("[" + getTime() + "]" +
" [CLIENT/INFO] A message received: topic - " + topic +
" , message - " + message + " .")
messageReceived.append({'topic': topic, 'message': message})
elif qos == 1:
print("[" + getTime() + "]" +
" [CLIENT/INFO] A message received: topic - " + topic +
" , message - " + message + " .")
messageReceived.append({'topic': topic, 'message': message})
sendMessage(sock, Encoders.PUBACK_Encoder(packetIdentifier))
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": PUBACK sent.")
elif qos == 2:
print(
"[" + getTime() + "]" +
" [CLIENT/INFO] A message received but not confirmed: topic - "
+ topic + " , message - " + message + " .")
tmpReceiveAtQos2.append({
'packetIdentifier': packetIdentifier,
'topic': topic,
'message': message
})
sendMessage(sock, Encoders.PUBREC_Encoder(packetIdentifier))
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": PUBREC sent.")
elif messageType == definition.messageType.PUBREL:
packetIdentifier = results['packetIdentifier']
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": PUBREL received.")
for i in range(0, tmpReceiveAtQos2.__len__()):
if tmpReceiveAtQos2[i]['packetIdentifier'] == packetIdentifier:
res = tmpReceiveAtQos2.pop(i)
messageReceived.append({
'topic': res['topic'],
'message': res['message']
})
print(
"[" + getTime() + "]" +
" [CLIENT/INFO] A message received and confirmed: topic - "
+ res['topic'] + " , message - " + res['message'] +
" .")
sendMessage(sock,
Encoders.PUBCOMP_Encoder(packetIdentifier))
print("[" + getTime() + "]" + " [CLIENT/INFO] Packet " +
str(packetIdentifier) + ": PUBCOMP sent.")
break
elif messageType == definition.messageType.PINGRESP:
print("[" + getTime() + "]" +
" [CLIENT/INFO] Heartbeat response received.")
except Decoders.IllegalMessageException as e:
print(data)
print("[" + getTime() + "]" +
" [CLIENT/INFO] MQTT Disconnected: Illegal message received.")
sock.close()
def startClient(serverHost,
serverPort,
userNameFlag,
passwordFlag,
willRetain,
willQos,
willFlag,
cleanSession,
keepAlive,
clientId,
willTopic='',
willMessage='',
userName='',
password=''):
"""
Description:
启动客户端。
Args:
serverHost(string)
服务器地址。
serverPort(int)
服务器端口。
userNameFlag(int)
用户名标志，1为存在用户名字段，0为不存在。
passwordFlag(int)
密码标志，1为存在密码字段，0为不存在。
willRetain(int)
遗嘱保留（willFlag = 0时必须设置为0），1为遗嘱保留，0为遗嘱不保留。
willQos(int)
遗嘱消息服务质量（willFlag = 0时必须设置为0）。
willFlag(int)
遗嘱标志。
cleanSession(int)
清理会话标志，1为清除历史订阅信息，0为不清除。
keepAlive(int)
保活时长，单位为s。
clientId(int)
ClientID。
willTopic(string)
遗嘱消息主题（仅willFlag = 1时可设置）。
willMessage(string)
遗嘱消息内容（仅willFlag = 1时可设置）。
userName(string)
用户名（仅userNameFlag = 1时可设置）。
password(string)
密码（仅password = 1时可设置）。
Returns:
Socket:
客户端socket对象。
Raises:
IOException
socket连接错误。
"""
print("====Eason MQTT-Client v1.0====")
global alive
try:
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setblocking(True)
print("[" + getTime() + "]" + " [CLIENT/INFO] Socket Connecting...")
sock.connect((serverHost, serverPort))
except:
print("[" + getTime() + "]" +
" [CLIENT/INFO] Socket Disconnected: Can not connect to server.")
alive = SOCKET_DISCONNECTED
input("Press ENTER to continue...")
sys.exit(0)
alive = SOCKET_CONNECTED
print("[" + getTime() + "]" + " [CLIENT/INFO] Socket Connected.")
receiveThread = threading.Thread(target=receive, args=(sock, ))
receiveThread.start()
sendMessage(
sock,
Encoders.CONNECT_Encoder(userNameFlag, passwordFlag, willRetain,
willQos, willFlag, cleanSession, keepAlive,
clientId, willTopic, willMessage, userName,
password))
print("[" + getTime() + "]" + " [CLIENT/INFO] MQTT Connecting...")
return sock
print('2 - MidiDevice')
userChoice = input('\nYour choice is: ')
print('\nChoose the type of control of the ProBots motors:')
print('\n1 - Sabertooth 2x25')
print('2 - PWM Controller OSMC3-2')
userChoice1 = input('\nYour choice is: ')
userChoice = str(userChoice)
userChoice1 = str(userChoice1)
# Initialization of classes from local files
PC = Sabertooth.PacketizedCommunication()
Battery = BatteryMonitor.BatteryVoltage()
PID = Controllers.PIDControllers()
Enc = Encoders.EncodersReadings()
Pconst = ProBotConstants.Constants()
Restartconst = RestartProgram.Restart()
UserChoice = Pub_Sub.userChoice(userChoice)
#PWM.start(channel, duty, freq, polarity)
PWM.start(Pconst.PWM_RF, 0, Pconst.PWM_Freq, 0)
PWM.start(Pconst.PWM_RR, 0, Pconst.PWM_Freq, 0)
PWM.start(Pconst.PWM_LF, 0, Pconst.PWM_Freq, 0)
PWM.start(Pconst.PWM_LR, 0, Pconst.PWM_Freq, 0)
# Configuration the type of GPIO's
GPIO.setup(Pconst.RedLED, GPIO.OUT)
GPIO.setup(Pconst.GreenLED, GPIO.OUT)
GPIO.setup(Pconst.BlueLED, GPIO.OUT)
def logicTest():
'''
报文解析的逻辑测试。请复制到src文件夹下进行测试。
'''
print(
Decoders.CONNECT_Decoder(
Encoders.CONNECT_Encoder(1, 0, 1, 2, 1, 0, 256, 'eason0212', 'is',
'ijsfs', 'eason')))
print(
Decoders.CONNACK_Decoder(
Encoders.CONNACK_Encoder(
1, definition.ConnackReturnCode.REFUSED_ILLEGAL_CLIENTID)))
print(
Decoders.PUBLISH_Decoder(
Encoders.PUBLISH_Encoder(1, 2, 1, 'hhh', 10, 'hhhhh')))
print(Decoders.PUBACK_Decoder(Encoders.PUBACK_Encoder(10)))
print(Decoders.PUBREC_Decoder(Encoders.PUBREC_Encoder(10)))
print(Decoders.PUBREL_Decoder(Encoders.PUBREL_Encoder(10)))
print(Decoders.PUBCOMP_Decoder(Encoders.PUBCOMP_Encoder(10)))
print(
Decoders.SUBSCRIBE_Decoder(
Encoders.SUBSCRIBE_Encoder(11, [{
'topic': '2333',
'qos': 1
}, {
'topic': '2433',
'qos': 2
}])))
print(Decoders.SUBACK_Decoder(Encoders.SUBACK_Encoder(11, [0, 128])))
print(
Decoders.UNSUBSCRIBE_Decoder(
Encoders.UNSUBSCRIBE_Encoder(12, ['2333', '2433', '2533'])))
print(Decoders.UNSUBACK_Decoder(Encoders.UNSUBACK_Encoder(12)))
print(Decoders.PINGREQ_Decoder(Encoders.PINGREQ_Encoder()))
print(Decoders.PINGRESP_Decoder(Encoders.PINGRESP_Encoder()))
print(Decoders.DISCONNECT_Decoder(Encoders.DISCONNECT_Encoder()))