def __del__(self, CorbaConsumer=PahoPublisher):
self._rtcout.RTC_PARANOID("~OutPortPahoPublisher()")
print("[disconnecting from MQTT broker start]")
PahoPublisher.paho_disconnect(self)
print("[disconnecting from MQTT broker end]")
PahoPublisher.__del__(self)
return
def put(self, data):
self._rtcout.RTC_PARANOID("put()")
try:
rpdata = repr(data)
PahoPublisher.paho_pub(self, rpdata)
return self.PORT_OK
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
return self.CONNECTION_LOST
def __init__(self):
global called
PahoPublisher.__init__(self)
self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf(
"OutPortPahoPublisher")
self._properties = None
thread = threading.Thread(target=self.catch_signal)
thread.daemon = True
thread.start()
called = True
return
def subscribePahoPublisher(self, properties):
self._rtcout.RTC_TRACE("subscribePahoPublisher()")
PN_HOST = "host"
PN_PORT = "port"
PN_KPALV = "kpalv"
PN_TOPIC = "topic"
PN_QOS = "qos"
PN_ID = "id"
PN_CS = "cs"
index0 = self.findProp(properties, PN_HOST)
index1 = self.findProp(properties, PN_PORT)
index2 = self.findProp(properties, PN_KPALV)
index3 = self.findProp(properties, PN_TOPIC)
index4 = self.findProp(properties, PN_QOS)
index5 = self.findProp(properties, PN_ID)
index6 = self.findProp(properties, PN_CS)
tmp_host = "localhost"
tmp_port = 1883
str_port = "1883"
tmp_kpalv = 60
str_kpalv = "60"
tmp_topic = "test"
tmp_qos = 0
str_qos = "0"
tmp_id = ""
tmp_cs = True
str_cs = "True"
if index0 < 0:
print("Server address not found. Default server address '" +
tmp_host + "' is used.")
else:
try:
tmp_host = any.from_any(properties[index0].value,
keep_structs=True)
print("Server address: " + tmp_host)
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if not tmp_host:
self._rtcout.RTC_ERROR("Server address has no string")
return False
if index1 < 0:
print("Port number not found. Default port '" + str(tmp_port) +
"' is used.")
else:
try:
str_port = any.from_any(properties[index1].value,
keep_structs=True)
tmp_port = int(str_port)
if tmp_port < 0 or tmp_port > 65535:
tmp_port = 1883
print("Port: " + str(tmp_port))
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if not str_port:
self._rtcout.RTC_ERROR("Port number has no string")
return False
if index2 < 0:
print("Keepalive not found. Default keepalve '" + str(tmp_kpalv) +
"' is used.")
else:
try:
str_kpalv = any.from_any(properties[index2].value,
keep_structs=True)
tmp_kpalv = int(str_kpalv)
if tmp_kpalv < 0 or tmp_kpalv > 86400:
tmp_kpalv = 60
print("keepalive: " + str(tmp_kpalv))
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if not str_kpalv:
self._rtcout.RTC_ERROR("Keepalive has no string")
return False
if index3 < 0:
print("Topic not found. Default Topic '" + tmp_topic +
"' is used.")
else:
try:
tmp_topic = any.from_any(properties[index3].value,
keep_structs=True)
print("Topic: " + tmp_topic)
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if not tmp_topic:
self._rtcout.RTC_ERROR("Topic has no string")
return False
if index4 < 0:
print("QoS not found. Default QoS '" + str(tmp_qos) + "' is used.")
else:
try:
str_qos = any.from_any(properties[index4].value,
keep_structs=True)
tmp_qos = int(str_qos)
if tmp_qos < 0 or tmp_qos > 2:
tmp_qos = 0
print("QoS: " + str(tmp_qos))
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if not str_qos:
self._rtcout.RTC_ERROR("QoS has no string")
return False
if index5 < 0:
print("Client ID not found. Random number ID is used.")
else:
try:
tmp_id = any.from_any(properties[index5].value,
keep_structs=True)
print("Client ID: " + tmp_id)
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if index6 < 0:
print("CleanSession not found. Default clean_session '" +
str(tmp_cs) + "' is used.")
else:
try:
str_cs = any.from_any(properties[index6].value,
keep_structs=True)
if str_cs == "False" or str_cs == "false" or str_cs == "FALSE" or str_cs == "f" or str_cs == "F" or str_cs == "0":
tmp_cs = False
print("Clean session: " + str(tmp_cs))
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if not str_cs:
self._rtcout.RTC_ERROR("Clean session has no string")
return False
print("[connecting to MQTT broker start]")
PahoPublisher.paho_initialize(self, tmp_id, tmp_cs, tmp_topic, tmp_qos)
PahoPublisher.paho_connect(self, tmp_host, tmp_port, tmp_kpalv)
print("[connecting to MQTT broker end]")
return True