Initial commit MQTT

casilla.py

+from enum import Enum
+
+
+class Bloque(Enum):
+    Edificio = 0
+    Calle_Izquierda_Derecha = 1
+    Calle_Arriba_Abajo = 2
+    Calle_Arriba_Derecha = 3
+    Calle_Derecha_Abajo = 4
+    Calle_Abajo_Izquierda = 5
+    Calle_Izquierda_Arriba = 6
+    Calle_Izquierda_Arriba_Derecha = 7
+    Calle_Arriba_Derecha_Abajo = 8
+    Calle_Derecha_Abajo_Izquierda = 9
+    Calle_Abajo_Izquierda_Arriba = 10
+    Calle_Arriba_Derecha_Abajo_Izquierda = 11
+
+class Casilla:
+
+    def __init__(self,x,y,codigo_bloque):
+        self.x = x
+        self.y = y
+        self.bloque = Bloque(codigo_bloque)
+
+    def __str__(self):
+        return f'x : {self.x} | y : {self.y} | {self.bloque}'
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conexion.py

+import paho.mqtt.client as mqtt
+
+class Conexion:   
+    
+
+    def __init__(self, on_msg):
+
+        
+
+
+        # Configuración del broker MQTT
+        self.__broker_address = "192.168.0.19"  # Cambia por la dirección de tu broker MQTT
+        #self.__broker_address = "192.168.0.100"  # Cambia por la dirección de tu broker MQTT
+        self.__port = 1883  # Puerto predeterminado para MQTT
+        self.__topic = ["A3-467/GrupoL","map"]
+
+
+        #def on_message(client, userdata, message):
+        #    print("message received " ,str(message.payload.decode("utf-8")))
+        #    print("message topic=",message.topic)
+        #    print("message qos=",message.qos)
+        #    print("message retain flag=",message.retain)
+        #    #self.__listaPendientes.append(f'{message.topic}-{message.payload.decode("utf-8")}')
+        ########################################
+        #broker_address="192.168.0.19"
+        #broker_address="iot.eclipse.org"
+        print("creating new instance")
+        client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)        
+        #client.on_message = on_message
+        #client.on_message=on_message #attach function to callback
+        client.on_message = on_msg
+        print("connecting to broker")
+        client.connect(self.__broker_address,self.__port) #connect to broker
+        client.loop_start() #start the loop
+
+        for tp in self.__topic:
+            client.subscribe(tp)
+            print(f" Subscrito a {tp}")
+
+        #self.__client = self.__connect_mqtt()
+        #self.inicializar()
+        #self.__client.loop_start()
+
+
+        #self.subscribe(cliente=client,topic=self.__topic)
+
+        self.__client = client
+        print("Inicializado")
+
+        #self.__listaPendientes = listaPendientes
+        #self.__client.loop_forever()
+
+        
+
+    def publicar(self,msg):
+        
+        client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)        
+        client.connect(self.__broker_address, self.__port)
+        result = client.publish(self.__topic[0],msg)
+        client.disconnect()
+        #result = self.__client.publish(self.__topic[0],msg)
+        # result: [0, 1]
+        status = result[0]
+        if status == 0:
+            print(f"Send `{msg}` to topic `{self.__topic[0]}`")
+        else:
+            print(f"Failed to send message to topic {self.__topic[0]}")   
+
+    def desconectar(self):
+        self.__client.loop_stop()
+        self.__client.disconnect()
+        print("Desconectado")
+
+
+# Función para enviar mensajes MQTT al broker
+def send_mqtt_message( message,topic="A3-467/GrupoL"):
+    client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2)
+    client.connect("192.168.0.19" , 1883)
+    client.publish(topic, message)
+    client.disconnect()
+
+#    def publish(client):
+#        msg_count = 1
+#        while True:
+#            #time.sleep(1)
+#            msg = f"messages: {msg_count}"
+#            result = client.publish(topic, msg)
+#            # result: [0, 1]
+#            status = result[0]
+#            if status == 0:
+#                print(f"Send `{msg}` to topic `{topic}`")
+#            else:
+#                print(f"Failed to send message to topic {topic}")
+#            msg_count += 1
+#            if msg_count > 5:
+#                break
+
+
+    #def __subscribe(client: mqtt, topic):
+
+    #def run():
+    #    client = connect_mqtt()
+    #    client.loop_start()
+    #    publish(client)
+    #    client.loop_stop()
+
+    #def run():
+    #    client = connect_mqtt()
+    #    subscribe(client)
+    #    client.loop_forever()

main_interfaz.py

+import conexion as cn
+import time
+import casilla as cs
+
+separadorTopic = "-"
+
+
+mapa = []
+def leerMapa(msg : str):
+    fila = 0
+    columna = 0
+    inicioPar = True
+    cas = ""
+    for c in msg:
+        cas = cas + c
+        if(not inicioPar):
+            mapa.append(cs.Casilla(fila,columna,int(cas)))
+            if(columna+1 == 5):
+                    fila = fila+1
+                    columna = 0
+            else:
+                    columna = columna+1
+            cas = ""
+        inicioPar = not inicioPar
+    for casi in mapa:
+        print(casi)
+
+
+
+lista = []
+
+def on_message(client, userdata, message):
+            if(message.topic == "map"):
+                 leerMapa(str(message.payload.decode("utf-8")))
+            lista.append(f'{message.topic}{separadorTopic}{str(message.payload.decode("utf-8"))}')
+
+
+          
+       
+
+conex = cn.Conexion(on_msg=on_message)
+
+time.sleep(3)
+finished = False
+while(not finished):
+    if(len(lista) != 0):
+        msg = lista.pop()
+        print(msg)
+        #finished = True    
+    time.sleep(1)
+
+
+
+
+conex.desconectar()
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main_robot.py

+import conexion as cn
+import time
+
+lista = []
+
+def on_message(client, userdata, message):
+            lista.append(f'{message.topic}-{str(message.payload.decode("utf-8"))}')
+
+
+conex = cn.Conexion(on_msg=on_message)
+
+time.sleep(3)
+
+mapa = "0202000105030705000200041109060110031000000200080101100110000106010701"
+
+finished = False
+while(not finished):
+    if(len(lista) != 0):
+        msg = lista.pop()
+        print(msg)
+        #finished = True    
+    time.sleep(1)
+
+
+
+
+conex.desconectar()
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