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)